Towards the supervisory control of uncertain nonholonomic systems

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

Research output: Contribution to journalConference articlepeer-review


This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the 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)3520-3524
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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