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
Full text not available from this repository.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: | 26 May 2007 23:40 |
| Last Modified: | 18 Jul 2012 02:27 |
| URI: | http://repository.usp.ac.fj/id/eprint/843 |
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