Near-Identity Diffeomorphisms and Exponential E-Tracking and 6-Stabilization of First-Order Nonholonomic SE( 2) Vehicles
Near-Identity Diffeomorphisms and Exponential E-Tracking and 6-Stabilization of First-Order Nonholonomic SE( 2) Vehicles
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发表时间：
2002
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通讯作者：
R. Olfati-Saber
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作者：
R. Olfati-Saber
在本文中，我们研究了一类具有一级非完整约束的SE(2)自动驾驶车辆的e - tracking和€-镇定问题。我们引入了一类称为近恒等微分同态的变换，它允许对平面车辆的平移动力学进行动态部分反馈线性化。这使我们能够使用与坐标无关的动态状态反馈实现上述平面车辆的全局指数稳定和位置跟踪。这个反馈律只有在增广状态下才是不连续的。我们将结果应用于非完整移动机器人的自稳定/跟踪。
In this paper, we address etracking and €-stabilization for a class of SE(2) autonomous vehicles with firstorder nonholonomic constrains. We introduce a class of transformations called near-identity diffeomorphisms that allow dynamic partial feedback linearization of the translational dynamics of this planar vehicle. This allows us to achieve global exponential €-stabilization and €-tracking (in position) for the aforementioned class of planar vehicles using a coordinate-independent dynamic state feedback. This feedback law is only discontinuous w.r.t. the augmented state. We apply our results to €-stabilization/tracking of a nonholonomic mobile robot.