Nonlinear set stabilization: application to coordinated path following

点击翻译按钮获取中文摘要

The set stabilization problem is an important problem in control systems because there are many emerging applications in which set stabilization is the natural way to formulate control objectives. Some examples are the control of a formation to make three wheeled robots arrange themselves in a triangle on the plane; the control of the walking motion for a biped robot; the path following problem for a car, ship or airplane (make the position of the mobile vehicle approach and follow a path); the creation of virtual constraints in a robot for haptic applications; the synchronization of coupled oscillators. Theoretically, many existing concepts from nonlinear control that deal with equilibria stabilization have analogous counterparts in the set stabilization realm which would represent a fundamental generalization and contribution to control theory.