Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot

摘要

In this paper it is shown that a class of n-dimensional nonholonomic chained systems can be stabilized using the invariant manifold approach. First, we derive an invariant manifold for this class of systems and we show that, once on it, all the closed-loop trajectories tend to the origin under a linear smooth time-invariant state feedback. Thereafter, it is shown that this manifold can be made attractive by means of a discontinuous time-invariant state feedback. Finally, a mobile robot is taken as an example demonstrating the effectiveness of our study. [References: 17]