Modeling and feedback control of nonholonomic mobile vehicles

Pappas, G; Kyriakopoulos, K

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	https://dspace.lib.ntua.gr/xmlui/handle/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