The DOI matches its Crossref record; 6 of the 6 references it cites were found in a registry or an index.
Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots
Abstract
Many nonholonomic mechanical systems, such as common wheeled mobile robots, are controllable but cannot be stabilized to given positions and orientations bv using smooth pure-state feedback control. However, as shown in Samson (1990), such systems may still be stabilized by using smooth time-varying feedbacks,—i.e., feedbacks that explicitly depend on the time variable. This possibility is here applied to the stabilization of a class of nonlinear systems whose equations encompass simple car models. A set of stabilizing smooth time-varying feedbacks is derived, and simulation results are given.
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Citations
Cites
Nonlinear Dynamical Control Systems
Nijmeijer, H., & van der Schaft, A. (1990) · Springer eBooks · doi:10.1007/978-1-4757-2101-0 · Cited by 3,265
The complexity of robot motion planning
Canny, J. (1988) · Medical Entomology and Zoology · Cited by 1,375
Controllability of nonlinear systems
Sussmann, H. J., & Jurdjevic, V. (1972) · Journal of Differential Equations · doi:10.1016/0022-0396(72)90007-1 · Cited by 805
Autonomous High Speed Road Vehicle Guidance by Computer Vision 1
Dickmanns, E. D., & Zapp, A. (1987) · IFAC Proceedings Volumes · doi:10.1016/s1474-6670(17)55320-3 · Cited by 252
Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints
Laumond, J. (1986) · Intelligent Autonomous Systems · Cited by 201
Motion planning for a mobile robot with a kinematic constraint
Tournassoud, P. (1989) · Lecture notes in computer science · doi:10.1007/3-540-51683-2_29 · Cited by 40
Cited by
Goebel, R., Sanfelice, R. G., & Teel, A. R. (2009) · IEEE Control Systems · doi:10.1109/mcs.2008.931718 · Cited by 1,656
Developments in nonholonomic control problems
(1995) · IEEE Control Systems · doi:10.1109/37.476384 · Cited by 1,243
Controlling formations of multiple mobile robots
Desai, J. P., Ostrowski, J., & Kumar, V. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.680621 · Cited by 686
(2014) · IEEE Control Systems · doi:10.1109/mcs.2013.2287568 · Cited by 462
Metadata
- Authors
- Samson, C.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1993-02
- Volume
- 12
- Issue
- 1
- Pages
- 55-64
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2060422673
- Cited by
- 295
- References
- 6
- FWCI
- 12.69
- Type
- journal article
- Language
- en
- Open access
- closed
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- Samson, C. (1993). Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots. The International Journal of Robotics Research. https://doi.org/10.1177/027836499301200104
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
