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FEEDBACK STABILIZATION OF NONHOLONOMIC CONTROL SYSTEMS USING MODEL DECOMPOSITION
Author(s) -
Rehman Fazalur
Publication year - 2005
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2005.tb00235.x
Subject(s) - nonholonomic system , control theory (sociology) , trajectory , control engineering , decomposition , trailer , transformation (genetics) , mobile robot , computer science , control system , control (management) , engineering , robot , artificial intelligence , physics , computer network , ecology , biochemistry , chemistry , electrical engineering , astronomy , gene , biology
This paper presents a simple and systematic approach for feedback stabilization of nonholonomic control systems. Its effectiveness is tested on two different nonholonomic control systems such as: a front wheel drive car, and a mobile robot with trailer. The method relies on the decomposition of model into two subsystems. One subsystem is stabilized by using the trajectory interception approach and other subsystem is steered by using sinusoidal inputs. The mixture of both types of control stabilizes the actual system. This approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques. The approach presented is general and can be employed to control a variety of mechanical systems with velocity constraints.