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Avtomatika i Telemekhanika, 2009, Issue 2, Pages 52–67 (Mi at417)  

This article is cited in 16 scientific papers (total in 16 papers)

Deterministic Systems

Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path

A. V. Pesterev, L. B. Rapoport

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
References:
Abstract: The synthesis control problem for the plane motion of a wheeled robot is studied. The goal of the control is to bring the robot to an assigned curvilinear trajectory and to stabilize its motion along it in the presence of phase and control constraints. For a synthesized control law, invariant ellipsoids – quadratic approximations of the attraction domains of the target trajectory – are constructed, which allow one to check in the course of the robot motion whether the control law can stabilize motion along the current trajectory segment. To take into account constraints on the control, methods of absolute stability theory are applied. The construction of the invariant ellipsoids reduces to solving a system of linear matrix inequalities.
Presented by the member of Editorial Board: B. T. Polyak

Received: 11.05.2008
English version:
Automation and Remote Control, 2009, Volume 70, Issue 2, Pages 219–232
DOI: https://doi.org/10.1134/S0005117909020040
Bibliographic databases:
Document Type: Article
PACS: 45.80.+r
Language: Russian
Citation: A. V. Pesterev, L. B. Rapoport, “Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path”, Avtomat. i Telemekh., 2009, no. 2, 52–67; Autom. Remote Control, 70:2 (2009), 219–232
Citation in format AMSBIB
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\by A.~V.~Pesterev, L.~B.~Rapoport
\paper Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path
\jour Avtomat. i Telemekh.
\yr 2009
\issue 2
\pages 52--67
\mathnet{http://mi.mathnet.ru/at417}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=2509032}
\zmath{https://zbmath.org/?q=an:1163.93372}
\transl
\jour Autom. Remote Control
\yr 2009
\vol 70
\issue 2
\pages 219--232
\crossref{https://doi.org/10.1134/S0005117909020040}
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  • https://www.mathnet.ru/eng/at/y2009/i2/p52
  • This publication is cited in the following 16 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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