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Exponential ε-tracking and ε-stabilization of second-order nonholonomic SE(2) vehicles using dynamic state feedback

Olfati-Saber, Reza (2002) Exponential ε-tracking and ε-stabilization of second-order nonholonomic SE(2) vehicles using dynamic state feedback. In: Proceedings of the American Control Conference, 2002, Anchorage, Alaska, May 8-10, 2002. Vol.5. IEEE , Los Alamitos, CA, pp. 3961-3967. ISBN 0-7803-7298-0. https://resolver.caltech.edu/CaltechAUTHORS:OLFacc02

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Abstract

In this paper, we address the problem of ε-tracking and ε-stabilization for a class of SE(2) vehicles with second-order nonholonomic constraints. We introduce a class of transformations called near-identity diffeomorphism that allow dynamic partial feedback linearization of the translational dynamics of this class of SE(2) vehicles. This allows us to achieve global exponential ε-stabilization and ε-tracking (in position) for the aforementioned classes of autonomous vehicles using a coordinate-independent dynamic state feedback. This feedback is only discontinuous w.r.t. the augmented state. We apply our results to ε-stabilization and ε-tracking for an underactuated surface vessel.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2002.1024548DOIUNSPECIFIED
Additional Information:© Copyright 2002 IEEE. Reprinted with permission. Posted online: 2002-11-07
Subject Keywords:nonholonomic systems, nonlinear control, autonomous vehicles, ε-stabilization, ε-tracking, mobile robots, dynamic partial feedback linearization, dynamic state feedback
Record Number:CaltechAUTHORS:OLFacc02
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:OLFacc02
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5152
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:03 Oct 2006
Last Modified:02 Oct 2019 23:19

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