Smooth stabilisation of nonholonomic robots subject to disturbance

A. Donaire J. Romero T. Perez Roméo Ortega 1
1 Pôle Systèmes
L2S - Laboratoire des signaux et systèmes
Abstract : In this paper, we address the problem of stabilisation of robots subject to nonholonommic constraints and external disturbances using port-Hamiltonian theory and smooth time-invariant control laws. This should be contrasted with the commonly used switched or time-varying laws. We propose a control design that provides asymptotic stability of an manifold (also called relative equilibria)-due to the Brockett condition this is the only type of stabilisation possible using smooth time-invariant control laws. The equilibrium manifold can be shaped to certain extent to satisfy specific control objectives. The proposed control law also incorporates integral action, and thus the closed-loop system is robust to unknown constant disturbances. A key step in the proposed design is a change of coordinates not only in the momentum, but also in the position vector, which differs from coordinate transformations previously proposed in the literature for the control of nonholonomic systems. The theoretical properties of the control law are verified via numerical simulation based on a robotic ground vehicle model with differential traction wheels and non co-axial centre of mass and point of contact.
Type de document :
Communication dans un congrès
ICRA 2015, May 2015, Seattle, Washington, United States. 2015, Proceedings of the 2015 IEEE International Conference on Robotics and Automation ICRA 2015. 〈10.1109/icra.2015.7139805 〉
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01262202
Contributeur : Myriam Baverel <>
Soumis le : mardi 26 janvier 2016 - 14:17:13
Dernière modification le : jeudi 8 février 2018 - 16:07:32

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A. Donaire, J. Romero, T. Perez, Roméo Ortega. Smooth stabilisation of nonholonomic robots subject to disturbance. ICRA 2015, May 2015, Seattle, Washington, United States. 2015, Proceedings of the 2015 IEEE International Conference on Robotics and Automation ICRA 2015. 〈10.1109/icra.2015.7139805 〉. 〈hal-01262202〉

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