2018/12/30 by Bowen Yi, Roméo Ortega, Yi, Bowen +3
Engineering · #Control and Dynamics of Mobile Robots #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1812.11538
openalex publication_date 2018/12/30 · openalex created_date 2019/01/11 · openalex updated_date 2026/07/28
In this paper we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular interconnection and damping assignment passivity-based methodology, with the free matrices partially structured. Two asymptotic regulation objectives are considered: drive to zero the state or drive the systems total energy to a desired constant value. In both cases, the control laws are smooth, time-invariant, state-feedbacks. For the nonholonomic integrator we give an almost global solution for both problems, with the objectives ensured for all system initial conditions starting outside a set that has zero Lebesgue measure and is nowhere dense. For the general case of higher-order nonholonomic systems in chained form, a local stability result is given. Simulation results comparing the performance of the proposed controller with other existing designs are also provided.