Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

被引：93

作者：

Hespanha, JP

Liberzon, D

Morse, AS

机构：

[1] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA

[2] Yale Univ, Dept Elect Engn, New Haven, CT 06520 USA

来源：

SYSTEMS & CONTROL LETTERS | 1999年 / 38卷 / 03期

基金：

美国国家科学基金会;

关键词：

nonholonomic system; modeling uncertainty; hybrid feedback control; estimator-based supervisor;

D O I：

10.1016/S0167-6911(99)00062-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by Brockett's nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem. (C) 1999 Elsevier Science B.V. All lights reserved.

引用

页码：167 / 177

页数：11

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