nonholonomic control
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2017 ◽  
Vol 1 (1) ◽  
pp. 26-31 ◽  
Author(s):  
Harris McClamroch ◽  
Mahmut Reyhanoglu ◽  
Muhammad Rehan

Author(s):  
Dimitra Panagou ◽  
Herbert G. Tanner ◽  
Kostas J. Kyriakopoulos

This paper presents procedural guidelines for the construction of discontinuous state feedback controllers for driftless, kinematic nonholonomic systems, with extensions to a class of dynamic nonholonomic systems with drift. Given an n-dimensional kinematic nonholonomic system subject to κ Pfaffian constraints, system states are partitioned into “leafwise” and “transverse,” based on the structure of the Pfaffian constraint matrix. A reference vector field F is defined as a function of the leafwise states only in a way that it is nonsingular everywhere except for a submanifold containing the origin. The induced decomposition of the configuration space, together with requiring the system vector field to be aligned with F, suggests choices for Lyapunov-like functions. The proposed approach recasts the original nonholonomic control problem as an output regulation problem, which although nontrivial, may admit solutions based on standard tools.


Author(s):  
Byung-Hun Lee ◽  
Seung-Ju Lee ◽  
Myoung-Chul Park ◽  
Kwang-Kyo Oh ◽  
Hyo-Sung Ahn

2013 ◽  
Vol 2013 (0) ◽  
pp. _G151022-1-_G151022-5
Author(s):  
Yusuke OUCHI ◽  
Hirotaro IWABE ◽  
Keigo WATANABE ◽  
Isaku NAGAI

2011 ◽  
Vol 16 (2) ◽  
pp. 202-207 ◽  
Author(s):  
Zainah Md. Zain ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi ◽  
Isaku Nagai

2009 ◽  
Vol 42 (16) ◽  
pp. 627-632 ◽  
Author(s):  
Rakesh Murthy ◽  
Aditya N. Das ◽  
Dan O. Popa
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