Dipole-like fields for stabilization of systems with Pfaffian constraints

Panagou, D; Tanner, HG; Kyriakopoulos, KJ

dc.contributor.author	Panagou, D	en
dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:46:45Z
dc.date.available	2014-03-01T02:46:45Z
dc.date.issued	2010	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32830
dc.subject	Feedback Control	en
dc.subject	nonholonomic system	en
dc.subject	Switching Control	en
dc.subject	Vector Field	en
dc.subject.other	Dimensional vectors	en
dc.subject.other	Double integrator	en
dc.subject.other	Nonholonomic systems	en
dc.subject.other	Nonholonomics	en
dc.subject.other	Pfaffian	en
dc.subject.other	Point dipole	en
dc.subject.other	Simulation result	en
dc.subject.other	Stabilizing control law	en
dc.subject.other	Stabilizing feedback controls	en
dc.subject.other	Switching Control	en
dc.subject.other	Vector fields	en
dc.subject.other	Control theory	en
dc.subject.other	Stabilization	en
dc.subject.other	Robotics	en
dc.title	Dipole-like fields for stabilization of systems with Pfaffian constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2010.5509296	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2010.5509296	en
heal.identifier.secondary	5509296	en
heal.publicationDate	2010	en
heal.abstract	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. ©2010 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2010.5509296	en
dc.identifier.spage	4499	en
dc.identifier.epage	4504	en