Asymptotic stabilization of nonholonomic robots leveraging singularity

• Main Authors: Li, Zhengguo, Gao, Wenchao, Goh, Changzuo, Yuan, Miaolong, Teoh, Eam Khwang, Ren, Qinyuan
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Article
• 語言: English
• 出版: 2021
• 主題: Engineering::Electrical and electronic engineering; Asymptotic Stabilization; Nonholonomic Robot
• 在線閱讀: https://hdl.handle.net/10356/150845

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...