Abstract:
In this paper, we address the problem of /spl epsi/-tracking and /spl epsi/-stabilization for a class of SE(2) vehicles with second-order nonholonomic constraints. We int...Show MoreMetadata
Abstract:
In this paper, we address the problem of /spl epsi/-tracking and /spl epsi/-stabilization for a class of SE(2) vehicles with second-order nonholonomic constraints. We introduce a class of transformations called near-identity diffeomorphism that allow dynamic partial feedback linearization of the translational dynamics of this class of SE(2) vehicles. This allows us to achieve global exponential /spl epsi/-stabilization and /spl epsi/-tracking (in position) for the aforementioned classes of autonomous vehicles using a coordinate-independent dynamic state feedback. This feedback is only discontinuous w.r.t. the augmented state. We apply our results to /spl epsi/-stabilization and /spl epsi/-tracking for an underactuated surface vessel.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619