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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.  +
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
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15 May 2016 06:20:52  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wal+94-tac.pdf  +
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Stabilization of Trajectories for Systems with Nonholonomic Constraints + Title
 

 

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