Logic-based switching control of a nonholonomic system with parametric modeling uncertainty |
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| Authors: | Jo o P. Hespanha, Daniel Liberzon,A. Stephen Morse |
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| Affiliation: | a Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA 94720-1770, USA;b Department of Electrical Engineering, Yale University, New Haven, CT 06520-8267, USA |
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| Abstract: | This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by Brockett's nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem. |
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| Keywords: | Nonholonomic system Modeling uncertainty Hybrid feedback control Estimator-based supervisor |
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