| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 720417 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Robot systems represent an important class of applications where the theory of invariant sets can provide important supplementary information for complementing the classical stability analysis. Within this context, we develop a scenario for exploring the invariant and contractive sets of nonlinear systems, which is further used as a powerful instrument for investigating the motion of an autonomous mobile robot. Our approach relies on the concept of “flow-invariant exponential stability”, introduced as a particular type of exponential stability that concomitantly ensures the existence of contractive sets invariant with respect to the state-space trajectories. The new mathematical results are applied in order to identify contractive sets inside the stability domain found by other researchers for the motion of a mobile robot controlled by visual servoing.
