Asymptotic stabilization of nonholonomic robots leveraging singularity
| Autor: | Zhengguo Li, Wenchao Gao, Changzuo Goh, Miaolong Yuan, Eam Khwang Teoh, Qinyuan Ren |
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| Přispěvatelé: | School of Electrical and Electronic Engineering |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Biomedical Engineering 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Singularity Artificial Intelligence Control theory Nonholonomic Robot 0202 electrical engineering electronic engineering information engineering Torque Nonholonomic system Mechanical Engineering 020208 electrical & electronic engineering Mobile robot Computer Science Applications Power (physics) Human-Computer Interaction Controllability Control and Systems Engineering Asymptotic Stabilization Electrical and electronic engineering [Engineering] Robot Computer Vision and Pattern Recognition |
| Popis: | Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for the asymptotic stabilization of nonholonomic robots using singularity, which is deemed undesirable due to loss of controllability. The proposed controller is inspired by a new insight on the singularity set of the nonholonomic robot, i.e., the singularity set includes a subset that can be asymptotically stabilized. The proposed controller is applicable to chained form systems that make an important class of drift-less nonholonomic systems, especially for those robots with a differential-drive mechanism. Considering its simplicity and efficiency, our method has the potential to be used in practice. Agency for Science, Technology and Research (A*STAR) This work was supported by the SERC Grant 162-25-00036 from the National Robotics Programme, Singapore. |
| Databáze: | OpenAIRE |
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