Control of chained systems application to path following and time-varying point-stabilization of mobile robots

摘要

Chain form systems have recently been introduced to model the kinematics of a class of nonholonomic mechanical systems. The first part of the study is centered on control design and analysis for nonlinear systems which can be converted to the chain form. Solutions to various control problems (open-loop steering, partial or complete state feedback stabilization) are either recalled, generalized, or developed. In particular, globally stabilizing time-varying feedbacks are derived, and a discussion of their convergence properties is provided. Application to the control of nonholonomic wheeled mobile robots is described in the second part of the study by considering the case of a car pulling trailers.