Dipole-like fields for stabilization of systems with Pfaffian constraints

Dimitra Panagou, Herbert G. Tanner, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the dipole-like vector fields is proposed, inspired by the form of the flow lines of the electric point dipole. A general connection between the dipole-like field and the Pfaffian constraints of catastatic nonholonomic systems is exploited, to establish systematic guidelines on the design of stabilizing control laws. The methodology is applied to the stabilization of the unicycle and of the nonholonomic double integrator. Based on these guidelines, switching control laws are constructed. The efficacy of the methodology is demonstrated through simulation results.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4499-4504
Number of pages6
DOIs
StatePublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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