DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.
Citation: DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.
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EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT

    Abstract
  • This paper studies the exponential stabilization of the dynamic nonholonomic chained systems with two inputs. A discontinuous exponentially stabilizing feedback law is given. An application to the stabilization of a nonholonomic wheeled mobile robot is described.Simmulation results show that the approach is effective.
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