STABILIZATION OF NONHOLONOMIC VEHICLES UNDER KINEMATIC CONSTRAINTS

PAPPAS, GJ; KYRIAKOPOULOS, KJ

dc.contributor.author	PAPPAS, GJ	en
dc.contributor.author	KYRIAKOPOULOS, KJ	en
dc.date.accessioned	2014-03-01T01:11:29Z
dc.date.available	2014-03-01T01:11:29Z
dc.date.issued	1995	en
dc.identifier.issn	0020-7179	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/11668
dc.subject.classification	Automation & Control Systems	en
dc.title	STABILIZATION OF NONHOLONOMIC VEHICLES UNDER KINEMATIC CONSTRAINTS	en
heal.type	journalArticle	en
heal.identifier.primary	10.1080/00207179508921939	en
heal.identifier.secondary	http://dx.doi.org/10.1080/00207179508921939	en
heal.language	English	en
heal.publicationDate	1995	en
heal.abstract	Equivalence between different kinematic models of non-holonomic vehicles is established. Non-holonomic vehicles are shown to be kinematically equivalent to unicycles. A generalized unicycle model is used for stabilization purposes. Globally stabilizing control laws under the presence of kinematic control constraints are derived. The control laws are based on the invariant manifold technique, a control strategy where non-holonomic systems are steered onto manifolds of global and relative local-local controllability. Convergence of the proposed closed-loop strategies are verified by simulations.	en
heal.publisher	TAYLOR & FRANCIS LTD LONDON	en
heal.journalName	INTERNATIONAL JOURNAL OF CONTROL	en
dc.identifier.doi	10.1080/00207179508921939	en
dc.identifier.isi	ISI:A1995QR71800011	en
dc.identifier.volume	61	en
dc.identifier.issue	4	en
dc.identifier.spage	933	en
dc.identifier.epage	947	en