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Control of nonholonomic systems using reference vector fields

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dc.contributor.author Panagou, D en
dc.contributor.author Tanner, HG en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:52:57Z
dc.date.available 2014-03-01T02:52:57Z
dc.date.issued 2011 en
dc.identifier.issn 01912216 en
dc.identifier.uri http://hdl.handle.net/123456789/36167
dc.subject.other Chained systems en
dc.subject.other Configuration space en
dc.subject.other Constraint equation en
dc.subject.other Control design en
dc.subject.other Design and analysis en
dc.subject.other Lyapunov-like functions en
dc.subject.other Non-holonomic control en
dc.subject.other Nonholonomic systems en
dc.subject.other Nonsingular en
dc.subject.other Output regulation problem en
dc.subject.other Pfaffian en
dc.subject.other Reference vectors en
dc.subject.other Vector fields en
dc.subject.other Control en
dc.title Control of nonholonomic systems using reference vector fields en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CDC.2011.6160922 en
heal.identifier.secondary http://dx.doi.org/10.1109/CDC.2011.6160922 en
heal.identifier.secondary 6160922 en
heal.publicationDate 2011 en
heal.abstract This paper presents a control design methodology for n-dimensional nonholonomic systems. The main idea is that, given a nonholonomic system subject to κ Pfaffian constraints, one can define a smooth, N-dimensional reference vector field F, which is nonsingular everywhere except for a submanifold containing the origin. The dimension N ≤ n of F depends on the structure of the constraint equations, which induces a foliation of the configuration space. This foliation, together with the objective of having the system vector field aligned with F, suggests a choice of Lyapunov-like functions V. The proposed approach recasts the original nonholonomic control problem into a lower-dimensional output regulation problem, which although nontrivial, can more easily be tackled with existing design and analysis tools. The methodology applies to a wide class of nonholonomic systems, and its efficacy is demonstrated through numerical simulations for the cases of the unicycle and the n-dimensional chained systems, for n = 3, 4. © 2011 IEEE. en
heal.journalName Proceedings of the IEEE Conference on Decision and Control en
dc.identifier.doi 10.1109/CDC.2011.6160922 en
dc.identifier.spage 2831 en
dc.identifier.epage 2836 en


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