Time-Varying Feedback Stabilization of Nonholonomic Car-Like Mobile Robots

摘要

The derivation of a set of smoothing time varying feedbacks for a class ofnonlinear systems encompassing simple car models, and sufficient conditions for asymptotic convergence of the state vector to zero is given. Many nonholonomic mechanical systems, such as car like mobile robots, are controllable but cannot be stabilized to given positions and orientations by using smooth pure state feedback control. However, such systems may still be stabilized by using smoothing 'time varying' feedbacks: feedbacks which explicitly depend on the time variable. This possibility is 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.