The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility… (More)
We give a new sufficient condition on the boundary conditions for the exponential stability of one-dimensional nonlinear hyperbolic systems on a bounded interval. Our proof relies on the construction of an explicit strict Lyapunov function. We compare our sufficient condition with other known sufficient conditions for nonlinear and linear one-dimensional… (More)
A strict Lyapunov function for boundary control with integral actions of hyperbolic systems of conservation laws that can be diagonalised with Riemann invariants, is presented. The time derivative of this Lyapunov function can be made strictly negative definite by an appropriate choice of the boundary conditions and the integral control gains. Previous… (More)
This article deals with the regulation of water ow in open-channels modelled by Saint-Venant equations. By means of a Riemann invariants approach, we deduce stabilizing control laws for a single horizontal reach without friction. The stability condition is extended to a general class of hyperbolic systems which can describe canal networks with more general… (More)
We address the issue of the exponential stability (in L 2-norm) of the classical solutions of the linearised Saint-Venant equations for a sloping channel. We give an explicit sufficient dissipative condition which guarantees the exponential stability under subcritical flow conditions without additional assumptions on the size of the bottom and friction… (More)
— Sufficient dissipative boundary conditions are given for the exponential stability of equilibria in physical networks of 2 × 2 nonlinear hyperbolic balance laws under boundary feedback control. The analysis relies on the use of an explicit strict Lyapunov function.
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—We present a strict Lyapunov function for hyperbolic systems of conservation laws that can be diagonalized with Rie-mann invariants. The time derivative of this Lyapunov function can be made strictly negative definite by an appropriate choice of the boundary conditions. It is shown that the derived boundary control allows to guarantee the local convergence… (More)