5 papers
Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstic
Many spatial (3D) vehicles, including AUVs and fixed-wing aircraft, are effectively nonholonomic and subject to limited actuation, such that continuous time-invariant stabilization…
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…
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…
Modular Design of Strict Control Lyapunov Functions for Global Stabilization of the Unicycle in Polar Coordinates
Velimir Todorovski, Kwang Hak Kim, Miroslav Krstic
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically st…