Control of nonholonomic chained systems application to time-varying exponential stabilization of mobile robots

摘要

laws[2], discontinuous controllers[3-4] and hybrid control laws[5]. On the other band, nonholonomic wheeled mobile robots together with many other mechanical systems such as the knife edge, cars towing .several trailers, .etc. can be converted, either locally or,globally, into chained, systems by coordinates and state-feedback transformation. So most results concerning the stabilization of nonholonomic chained systems can be used to stabilize the wheeled mobile robots.. This paper focuses