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ICRA
2010
IEEE

Dipole-like fields for stabilization of systems with Pfaffian constraints

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Dipole-like fields for stabilization of systems with Pfaffian constraints
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the dipole-like vector fields is proposed, inspired by the form of the flow lines of the electric point dipole. A general connection between the dipole-like field and the Pfaffian constraints of catastatic nonholonomic systems is exploited, to establish systematic guidelines on the design of stabilizing control laws. The methodology is applied to the stabilization of the unicycle and of the nonholonomic double integrator. Based on these guidelines, switching control laws are constructed. The efficacy of the methodology is demonstrated through simulation results.
Dimitra Panagou, Herbert G. Tanner, Kostas J. Kyri
Added 13 Feb 2011
Updated 13 Feb 2011
Type Journal
Year 2010
Where ICRA
Authors Dimitra Panagou, Herbert G. Tanner, Kostas J. Kyriakopoulos
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