Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/150845
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dc.contributor.authorLi, Zhengguoen_US
dc.contributor.authorGao, Wenchaoen_US
dc.contributor.authorGoh, Changzuoen_US
dc.contributor.authorYuan, Miaolongen_US
dc.contributor.authorTeoh, Eam Khwangen_US
dc.contributor.authorRen, Qinyuanen_US
dc.date.accessioned2021-06-02T05:26:21Z-
dc.date.available2021-06-02T05:26:21Z-
dc.date.issued2019-
dc.identifier.citationLi, 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.2018.2878605en_US
dc.identifier.issn2377-3766en_US
dc.identifier.other0000-0002-4525-1204-
dc.identifier.other0000-0002-8994-8740-
dc.identifier.other0000-0001-7386-3171-
dc.identifier.other0000-0001-8114-8143-
dc.identifier.other0000-0001-9487-2675-
dc.identifier.urihttps://hdl.handle.net/10356/150845-
dc.description.abstractDue 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.en_US
dc.description.sponsorshipAgency for Science, Technology and Research (A*STAR)en_US
dc.language.isoenen_US
dc.relation162-25-00036en_US
dc.relation.ispartofIEEE Robotics and Automation Lettersen_US
dc.rights© 2018 IEEE. All rights reserved.en_US
dc.subjectEngineering::Electrical and electronic engineeringen_US
dc.titleAsymptotic stabilization of nonholonomic robots leveraging singularityen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.identifier.doi10.1109/LRA.2018.2878605-
dc.identifier.scopus2-s2.0-85063309965-
dc.identifier.issue1en_US
dc.identifier.volume4en_US
dc.identifier.spage41en_US
dc.identifier.epage48en_US
dc.subject.keywordsAsymptotic Stabilizationen_US
dc.subject.keywordsNonholonomic Roboten_US
dc.description.acknowledgementThis work was supported by the SERC Grant 162-25-00036 from the National Robotics Programme, Singapore.en_US
item.grantfulltextnone-
item.fulltextNo Fulltext-
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