5 papers
Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates
Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1
At parking speeds, the kinematic bicycle is the prevailing model for car-like vehicles. Yet, despite its wide use, stabilizing feedback laws for this system are scarce in the liter…
Interconnection-based Model Reduction for Linear Hybrid Systems
Zirui Niu, Giordano Scarciotti, Alessandro Astolfi
In this paper, we address the model reduction problem for linear hybrid systems via the interconnection-based technique called moment matching. We consider two classical interconne…
Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs
Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally…
Integrator Forwading Design for Unicycles with Constant and Actuated Velocity in Polar Coordinates
Miroslav Krstic, Velimir Todorovski, Kwang Hak Kim +1
In a companion paper, we present a modular framework for unicycle stabilization in polar coordinates that provides smooth steering laws through backstepping. Surprisingly, the same…
Frequency Domain Stability Method for Reset Systems
Ali Ahmadi Dastjerdi, Alessandro Astolfi, S. H. HosseinNia
Today, linear PID controllers cannot satisfy requirements of high-precision industry due to the development of technology. According to the literature, reset controllers can overco…