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Avtomatika i Telemekhanika, 2009, Issue 9, Pages 100–112 (Mi at528)  

This article is cited in 6 scientific papers (total in 6 papers)

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Algorithm to construct invariant ellipsoids in the problem of stabilization of wheeled robot motion

A. V. Pesterev

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
Full-text PDF (191 kB) Citations (6)
References:
Abstract: Design of the control law for planar motion of the wheeled robot was studied. The aim of control lies in driving the robot to the desired smooth curvilinear trajectory and stabilizing its motion. At that, the control resource and the domain of variations of the phase variables are bounded. It was previously suggested to construct the criterion for control law stabilizability as invariant ellipsoids, that is, quadratic approximations of the attraction domains of the target trajectory. Then construction of the invariant ellipsoids came to solving a system of linear matrix inequalities and testing a scalar inequality. The paper was devoted to practical application of the previous results. Choice of the parameters of the system of linear matrix inequalities was discussed. An algorithm to construct an invariant ellipsoid in at most three iterations was developed. It also determines the maximal ellipsoid for a given maximal permissible deviation of the robot from the target trajectory.
Presented by the member of Editorial Board: L. B. Rapoport

Received: 26.01.2009
English version:
Automation and Remote Control, 2009, Volume 70, Issue 9, Pages 1528–1539
DOI: https://doi.org/10.1134/S0005117909090069
Bibliographic databases:
Document Type: Article
PACS: 45.80.+r
Language: Russian
Citation: A. V. Pesterev, “Algorithm to construct invariant ellipsoids in the problem of stabilization of wheeled robot motion”, Avtomat. i Telemekh., 2009, no. 9, 100–112; Autom. Remote Control, 70:9 (2009), 1528–1539
Citation in format AMSBIB
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\paper Algorithm to construct invariant ellipsoids in the problem of stabilization of wheeled robot motion
\jour Avtomat. i Telemekh.
\yr 2009
\issue 9
\pages 100--112
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\transl
\jour Autom. Remote Control
\yr 2009
\vol 70
\issue 9
\pages 1528--1539
\crossref{https://doi.org/10.1134/S0005117909090069}
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Linking options:
  • https://www.mathnet.ru/eng/at528
  • https://www.mathnet.ru/eng/at/y2009/i9/p100
  • This publication is cited in the following 6 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Avtomatika i Telemekhanika
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    Abstract page:330
    Full-text PDF :127
    References:41
    First page:2
     
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