Abstract
Dear editor,
The control of nonholonomic systems, like those describing mobile robots, has attracted considerable research attention in recent decades owing to its theoretical and practical importance. Brockett’s theorem states that nonholonomic systems cannot be stabilized to an equilibrium point by any source of smooth or continuous state feedback.
Additionally, the required accuracy of measuring the system states is often unachievable in practice. These factors introduce considerable difficulty to
the problem of controlling mobile robots and other nonholonomic systems.
The control of nonholonomic systems, like those describing mobile robots, has attracted considerable research attention in recent decades owing to its theoretical and practical importance. Brockett’s theorem states that nonholonomic systems cannot be stabilized to an equilibrium point by any source of smooth or continuous state feedback.
Additionally, the required accuracy of measuring the system states is often unachievable in practice. These factors introduce considerable difficulty to
the problem of controlling mobile robots and other nonholonomic systems.
| Original language | English |
|---|---|
| Article number | 199201 |
| Journal | Science China Information Sciences |
| Volume | 63 |
| Issue number | 9 |
| Early online date | 12 Mar 2020 |
| DOIs | |
| Publication status | Published - 1 Sept 2020 |
Bibliographical note
Funding Information:This work was supported by National Natural Science Foundation of China (Grant Nos. 61673243, U1713209) and Ministry of Education Key Laboratory of Measurement and Control of CSE (Grant No. MCCSE2017A0).