Closed-loop control algorithm for some class of nonholonomic systems using polar representation

This paper is focused on the convergence problem defined for some class of a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved based on a polar transformation which is singular at the origin. The convergence is ensured using static-state feedback. The...

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Bibliographic Details
Published inBulletin of the Polish Academy of Sciences. Technical sciences Vol. 60; no. 3; pp. 521 - 535
Main Authors Pazderski, D., Szulczyński, P., Kozłowski, K.
Format Journal Article
LanguageEnglish
Published Warsaw Versita 01.12.2012
Polish Academy of Sciences
Subjects
discontinuous stabilization at the origin
nonholonomic system
polar coordinates
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ISSN0239-7528
2300-1917
2300-1917
DOI10.2478/v10175-012-0065-y

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Summary:This paper is focused on the convergence problem defined for some class of a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved based on a polar transformation which is singular at the origin. The convergence is ensured using static-state feedback. The necessary conditions for construction of the algorithm are formally discussed. The solution, in general, is local, and the feasible domain is strictly related to the properties of the control system. In order to improve algorithm robustness a simple hybrid algorithm is formulated. The general theory is illustrated by two particular systems and the results of numerical simulations are provided.
Bibliography:ark:/67375/QT4-1BKDWLV3-D
ArticleID:v10175-012-0065-y
istex:0B978F09DCBE284613C3BA01BBCC90982742432B
v10175-012-0065-y.pdf
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ISSN:0239-7528
2300-1917
2300-1917
DOI:10.2478/v10175-012-0065-y