Asymptotic stabilization of nonholonomic robots leveraging singularity
Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for the asymptotic stabilization of nonholo...
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Main Authors: | , , , , , |
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Other Authors: | |
Format: | Article |
Language: | English |
Published: |
2021
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Subjects: | |
Online Access: | https://hdl.handle.net/10356/150845 |
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Institution: | Nanyang Technological University |
Language: | English |