Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity

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Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity
Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity
Journal Title:
IEEE Robotics and Automation Letters
Publication Date:
29 October 2018
Z. Li, W. Gao, C. Goh, M. Yuan, E. K. Teoh and Q. Ren, "Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity," in IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 41-48, Jan. 2019. doi: 10.1109/LRA.2018.2878605
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 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 which 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 differential-drive mechanism. Considering its simplicity and efficiency, our method has the potential to be used in practice.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the Agency for Science, Technology and Research - National Robotics Programme
Grant Reference no. : SERC grant No. 162- 25-00036
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