TY - GEN
T1 - Dipole-like fields for stabilization of systems with Pfaffian constraints
AU - Panagou, Dimitra
AU - Tanner, Herbert G.
AU - Kyriakopoulos, Kostas J.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955796718&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2010.5509296
DO - 10.1109/ROBOT.2010.5509296
M3 - Conference contribution
AN - SCOPUS:77955796718
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4499
EP - 4504
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -