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| Stabilization of Trajectories for Systems with Nonholonomic Constraints |
| Abstract |
A new technique for stabilizing nonholonom … A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static state feedback. In this paper we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the paper gives an explicit control law which will locally exponentially stabilize the system to the desired trajectory. The theory is applied to several examples, including a car-like robot. eral examples, including a car-like robot. +
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| Authors | G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond + |
| ID | 1994b + |
| Source | <i>IEEE T. Automatic Control</i>, 39: (1) 216-222 + |
| Tag | wal+95-tac + |
| Title | Stabilization of Trajectories for Systems with Nonholonomic Constraints + |
| Type | Preprint + |
| Categories | Papers |
| Modification date This property is a special property in this wiki.
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15 May 2016 06:20:52 + |
| URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/wal+94-tac.pdf + |
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