Stabilization of non-holonomic chained systems by gain scheduling

Abstract

In this paper, a simple method the gain scheduling technique is applied for the stabilization of non-holonomic chained systems, such as mobile robots, front-wheel drive cars, and fire trucks. First, the stabilizing non-holonomic chained systems' problem is formulated as a multi-input multi-state (MIMS) linear parameter-varying system. By choosing a suitable and non-zero control input in the new formulated linear parameter-varying system, the gain scheduling techniques can then easily be applied to design the state feedback stabilizing controller. Simulation results show that the proposed methodology has demonstrated superiority over previous methods and results in much simpler trajectories.