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Lyapunov stability of a non-holonomic car-like robotic system

Sharma, Bibhya N. and Vanualailai, Jito (2007) Lyapunov stability of a non-holonomic car-like robotic system. Nonlinear Studies: The International Journal, 14 (2). pp. 143-160. ISSN 1359-8678

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Abstract

This paper shows how the Lyapunov method can be used to generate continuous time-invariant control laws that, to some extent, simultaneously solve the multi-task problem of navigation, steering, and point and posture stabilizations of nonholonomic car-like mobile robots. Even though the proposed method does not guarantee asymptotic stability, it provides a starting point for looking at the difficult problem of posture stability - essentially the problem of parking a car-like vehicle - without the use of discontinuous or time-varying control laws, which are currently the only laws capable of circumventing the well-known Brockett Theorem on the stabilization of nonholonomic systems and providing complete solutions to point and posture stabilities.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Mereoni Camailakeba
Date Deposited: 27 May 2007 11:40
Last Modified: 18 Jul 2012 14:27
URI: http://repository.usp.ac.fj/id/eprint/843
UNSPECIFIED

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