HEAL DSpace

STABILIZATION OF NONHOLONOMIC VEHICLES UNDER KINEMATIC CONSTRAINTS

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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


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