Electrical Engineering and Systems Science > Systems and Control
arXiv:2408.10941 (eess)
[Submitted on 20 Aug 2024 (v1), last revised 4 Nov 2024 (this version, v2)]
Title:Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
View a PDF of the paper titled Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots, by Tianyu Han and Bo Wang
View PDFHTML (experimental)Abstract:We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier functions (CBFs) for cascaded systems. To address nonholonomicity, we design the nominal controller that guarantees global asymptotic stability and local exponential stability for the closed-loop system in polar coordinates and construct a strict Lyapunov function valid on any compact sets. Furthermore, we present a procedure for constructing CBFs for cascaded systems, utilizing the CBF of the kinematic model through integrator backstepping. Quadratic programming is employed to combine CLFs and CBFs to integrate both stability and safety in the closed loop. The proposed control law is time-invariant, continuous along trajectories, and easy to implement. Our main results guarantee both safety and local asymptotic stability for the closed-loop system.
| Comments: | The paper has been accepted to IEEE Control Systems Letters (L-CSS) |
| Subjects: | Systems and Control (eess.SY) |
| Cite as: | arXiv:2408.10941 [eess.SY] |
| (orarXiv:2408.10941v2 [eess.SY] for this version) | |
| https://doi.org/10.48550/arXiv.2408.10941 arXiv-issued DOI via DataCite | |
| Journal reference: | IEEE Control Systems Letters, vol. 8, pp. 2469-2474, 2024 |
| Related DOI: | https://doi.org/10.1109/LCSYS.2024.3492999 DOI(s) linking to related resources |
Submission history
From: Bo Wang [view email][v1] Tue, 20 Aug 2024 15:31:06 UTC (1,174 KB)
[v2] Mon, 4 Nov 2024 15:10:25 UTC (1,180 KB)
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View a PDF of the paper titled Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots, by Tianyu Han and Bo Wang
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