Page 241 - Autonomous Mobile Robots
P. 241
226 Autonomous Mobile Robots
50. Pomet, J.-B. and Samson, C., Time-varying exponential stabilization of
nonholonomic systems in power form, in Proceedings of IFAC Symposium of
Robust Control Design, p. 447, 1994.
51. Alexander, J. C. and Maddocks, J. H., On the maneuvering of vehicles, SIAM
Journal of Applied Mathematics, 48, 38, 1993.
52. Teel, A. R., Murray, R. M., and Walsh, G., Nonholonomic control systems:
from steering to stabilization with sinusoids, in 31st Conference on Decision
and Control, Tucson, AZ, p. 1603, 1992.
53. Astolfi, A., Laiou, M. C., and Mazenc, F., New results and examples on a class
of discontinuous controllers, in European Control Conference, 1999.
54. Bloch, A. M. and Drakunov, S. V., Stabilization and tracking in the non-
holonomic integrator via sliding modes, Systems and Control Letters, 29, 91,
1996.
55. Reyhanoglu, M., Exponential stabilization of an underactuated autonomous
surface vessel, Automatica, 33, 2249, 1997.
56. Escobar, G., Ortega, R., and Reyhanoglu, M., Regulation and tracking of the
nonholonomic double integrator: a field-oriented control approach, Automatica,
34, 125 ,1998.
57. Jiang, Z. P., Robust exponential regulation of nonholonomic systems with
uncertainties, Automatica, 36, 189, 2000.
58. Morin, P. and Samson, C., Robust stabilization of driftless systems with hybrid
open-loop/feedback control, in American Control Conference, Chicago, IL,
2000.
59. Marchand, N. and Alamir, M., Discontinuous exponential stabilization of
chained form systems, Automatica, 39, 343, 2003.
60. Prieur, C., A robust globally asymptotically stabilizing feedback: the example
of the Artstein’s circles, In Nonlinear Control in the Year 2002, LNCIS 258,
A. Isidori et al. (eds), p. 279, Springer-Verlag, London, 2000.
61. Prieur, C., Uniting local and global controllers with robustness to vanishing
noise, Mathematics Control Signals and Systems, 14, 143, 2001.
62. Neši´ c, D. and Teel, A. R., A framework for stabilization of nonlinear
sampled-data systems based on their approximate discrete-time models, IEEE
Transactions on Automatic Control, 49, 1103, 2004.
BIOGRAPHY
Alessandro Astolfi was born in Rome, Italy, in 1967. He graduated in elec-
trical engineering from the University of Rome in 1991. In 1992, he joined
ETH-Zurich where he obtained an M.Sc. in information theory in 1995 and
the Ph.D. degree with Medal of Honour in 1995 with a thesis on discontinuous
stabilization of nonholonomic systems. In 1996 he was awarded a PhD from
the University of Rome for his work on nonlinear robust control.
Since 1996, he has been with the Electrical and Electronic Engineering
Department of Imperial College, London (UK), where he is currently professor
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c005” — 2006/3/31 — 16:42 — page 226 — #40