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|Title:||Asymptotic stabilization of nonholonomic robots leveraging singularity||Authors:||Li, Zhengguo
Teoh, Eam Khwang
|Keywords:||Engineering::Electrical and electronic engineering||Issue Date:||2019||Source:||Li, Z., Gao, W., Goh, C., Yuan, M., Teoh, E. K. & Ren, Q. (2019). Asymptotic stabilization of nonholonomic robots leveraging singularity. IEEE Robotics and Automation Letters, 4(1), 41-48. https://dx.doi.org/10.1109/LRA.2018.2878605||Project:||162-25-00036||Journal:||IEEE Robotics and Automation Letters||Abstract:||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.||URI:||https://hdl.handle.net/10356/150845||ISSN:||2377-3766||DOI:||10.1109/LRA.2018.2878605||Rights:||© 2018 IEEE. All rights reserved.||Fulltext Permission:||none||Fulltext Availability:||No Fulltext|
|Appears in Collections:||EEE Journal Articles|
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