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Nonholonomic control systems: from steering to stabilization with sinuoids
Abstract In this paper we present a control law for …
In this paper we present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of nonholonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.
matic model of an automobile are included.  +
Authors Andrew R. Teel, Richard M. Murray, Gregory C. Walsh  +
Flags NoRequest  +
ID 1996e  +
Source <i>International Journal of Control</i> 62(4):849-870  +
Tag tmw95-ijc  +
Title Nonholonomic control systems: from steering to stabilization with sinuoids +
Type Conference version  +
Categories Papers
Modification date
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15 May 2016 06:20:19  +
URL
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http://www.cds.caltech.edu/~murray/preprints/tmw92-cdc.pdf  +
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Nonholonomic control systems: from steering to stabilization with sinuoids + Title
 

 

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