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Zbl 1240.70015
Liang, Zhenying; Wang, Chaoli
Robust stabilization of nonholonomic chained form systems with uncertainties. (English)
[J] Acta Autom. Sin. 37, No. 2, 129-142 (2011). ISSN 0254-4156

Summary: A summary of recent developments concerning robust stabilization problems for the nonholonomic chained form systems with uncertainties is provided. Firstly, various models, main approaches, and results over past ten years for the uncertain chained form systems are presented. Then, several new exciting uncertain chained form models of special interest are proposed for the nonholonomic wheeled mobile robots. They are obtained by using the state and input transformations based on the visual servoing feedback. Finally, the novel robust regulation controllers are addressed for some new uncertain chained models by using two-steps technology, visual feedback, state-scaling and switching strategy. It is expected that this investigation will provide a good introduction about the development of robust stabilization for uncertain chained form systems.

MSC 2000:: *70F25 Nonholonomic systems
70B15 Mechanisms
93D21 Adaptive and robust stabilization

Keywords: nonholonomic kinematics; mobile robot; uncertain chained system

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