References
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Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots

Abdelhamid Tayebi and Ahmed Rachid

p. 157-168

    Abstract

    This paper presents a backstepping procedure for the design of discontinuous time invariant state feedback controllers for the stabilization of nonholonomic systems in chained form. To highlight its effectiveness, our procedure is applied to two nonholonomic physical systems, namely, a unicycle and a car-like mobile robots. It is worth noticing that this approach may be considered as new systematic way to design time-invariant discontinuous controllers for nonholonomic systems.

    Index

    Keywords

    nonholonomic systems, mobile robots, stabilization problem, backstepping approach, Lyapunov method

    Text

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    References

    Bibliographical reference

    Abdelhamid Tayebi and Ahmed Rachid, « Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots », CASYS, 2 | 1998, 157-168.

    Electronic reference

    Abdelhamid Tayebi and Ahmed Rachid, « Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots », CASYS [Online], 2 | 1998, Online since 28 June 2024, connection on 20 September 2024. URL : http://popups.lib.uliege.be/1373-5411/index.php?id=433

    Authors

    Abdelhamid Tayebi

    Laboratoire des Systèmes Automatiques, Université de Picardie-Jules Verne, 7, Rue du Moulin Neuf,80000 Amiens, France

    Ahmed Rachid

    Laboratoire des Systèmes Automatiques, Université de Picardie-Jules Verne, 7, Rue du Moulin Neuf,80000 Amiens, France

    Copyright

    CC BY-SA 4.0 Deed