Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

João P. Hespanha, Daniel Liberzon, A. Stephen Morse

Research output: Contribution to journalArticlepeer-review


This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by Brockett's nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.

Original languageEnglish (US)
Pages (from-to)167-177
Number of pages11
JournalSystems and Control Letters
Issue number3
StatePublished - Oct 26 1999
Externally publishedYes


  • Estimator-based supervisor
  • Hybrid feedback control
  • Modeling uncertainty
  • Nonholonomic system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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