Work

Motion planning and stabilization of nonholonomic systems using gradient flow approximations

Year: 2023

Type: article

Abstract: Nonlinear control-affine systems described by ordinary differential equations with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems under the bracket-generating condition. This methodology is based on the approximation of a gradient-like dynamics by trajectories of the designed closed-loop system. As an intermediate outcome, we characterize the asymptotic behavior of solutions of the considered class of nonlinear control systems with oscillating inputs under rather general assumptions on the generating potential function. These results are applied to examples of nonholonomic trajectory tracking and obstacle avoidance.

Source: Nonlinear Dynamics

DOI: 10.1007/s11071-023-08908-7

Authors: Victoria Grushkovskaya, Alexander Zuyev

Institutions: University of Klagenfurt, National Academy of Sciences of Ukraine, Max Planck Institute for Dynamics of Complex Technical Systems, Otto-von-Guericke-Universität Magdeburg

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,390

Funder: Deutsche Forschungsgemeinschaft