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Modeling and feedback control of nonholonomic mobile vehicles

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dc.contributor.author Pappas, G en
dc.contributor.author Kyriakopoulos, K en
dc.date.accessioned 2014-03-01T02:48:06Z
dc.date.available 2014-03-01T02:48:06Z
dc.date.issued 1992 en
dc.identifier.uri http://hdl.handle.net/123456789/33532
dc.subject Closed Loop Control en
dc.subject Dynamic Model en
dc.subject Feedback Control en
dc.subject Invariant Manifold en
dc.subject Vehicle Tracking en
dc.title Modeling and feedback control of nonholonomic mobile vehicles en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CDC.1992.371331 en
heal.identifier.secondary http://dx.doi.org/10.1109/CDC.1992.371331 en
heal.publicationDate 1992 en
heal.abstract A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique is introduced for steering a nonholonomic mobile vehicle to an invariant manifold which is relatively locally-locally controllable. A closed-loop control strategy based on the invariant manifold technique is formulated en
heal.journalName Conference on Decision and Control en
dc.identifier.doi 10.1109/CDC.1992.371331 en


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