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

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

doi:10.1016/S0167-6911(99)00062-6

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

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

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English (US)
Pages (from-to)	167-177
Number of pages	11
Journal	Systems and Control Letters
Volume	38
Issue number	3
DOIs	https://doi.org/10.1016/S0167-6911(99)00062-6
State	Published - Oct 26 1999
Externally published	Yes

Keywords

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

Online availability

10.1016/S0167-6911(99)00062-6

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title = "Logic-based switching control of a nonholonomic system with parametric modeling uncertainty",

abstract = "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.",

keywords = "Estimator-based supervisor, Hybrid feedback control, Modeling uncertainty, Nonholonomic system",

author = "Hespanha, {Jo{\~a}o P.} and Daniel Liberzon and Morse, {A. Stephen}",

note = "Funding Information: This research was supported by ARO DAAH04-95-1-0114, NSF ECS 9634146, and AFOSR F49620-97-1-0108. ",

year = "1999",

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language = "English (US)",

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T1 - Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

AU - Hespanha, João P.

AU - Liberzon, Daniel

AU - Morse, A. Stephen

N1 - Funding Information: This research was supported by ARO DAAH04-95-1-0114, NSF ECS 9634146, and AFOSR F49620-97-1-0108.

PY - 1999/10/26

Y1 - 1999/10/26

N2 - 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.

AB - 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.

KW - Estimator-based supervisor

KW - Hybrid feedback control

KW - Modeling uncertainty

KW - Nonholonomic system

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U2 - 10.1016/S0167-6911(99)00062-6

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SN - 0167-6911

VL - 38

SP - 167

EP - 177

JO - Systems and Control Letters

JF - Systems and Control Letters

IS - 3

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

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