Control of nonholonomic systems using reference vector fields

Panagou, D; Tanner, HG; Kyriakopoulos, KJ

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