Stabilization of Trajectories for Systems with Nonholonomic Constraints

IEEE Transactions on Automatic Control

Volumn 39, Issue 1, 1994, Pages 216-222

  Walsh, G ^a   Tilbury, D ^a   Sastry, S ^a   Murray, R ^b   Laumond, J P ^c  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^c Laboratoire d'Automatique et d'Analyse des Systemes   (France)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMOBILES; CONTROL EQUIPMENT; CONTROL THEORY; ERROR ANALYSIS; LINEAR CONTROL SYSTEMS; MOBILE ROBOTS; MOTION CONTROL; STATE ESTIMATION; SYSTEM STABILITY; TIME VARYING CONTROL SYSTEMS; TRAJECTORIES;

NONHOLONOMIC SYSTEMS; STATIC STATE FEEDBACK;

MULTIVARIABLE CONTROL SYSTEMS;

EID: 0028257450     PISSN: 00189286     EISSN: 15582523     Source Type: Journal    
DOI: 10.1109/9.273373     Document Type: Article

References (13)

1. G. Bastin and G. Campion. “Feedback control of nonholonomic mechanical systems.” Adv. Robot Contr., 1991.
2. R. W. Brockett. Control Theory and Singular Riemannian Geometry. New York: Springer-Verlag, 1981.
3. “Asymptotic stability and feedback stabilization,” in R. W. Brockett, R. S. Millman, and H. J. Sussman, eds, Differential Geometric Control Theory. Boston: Birkhauser, 1983, pp. 181–191.
4. V. H. L. Cheng, “A direct way to stabilize continuous-time and discrete-time time linear time-varying systems,” IEEE Trans. Automat. Contr., vol. AC-24, no. 4, pp. 641–543, 1979.
5. J. M. Coron, “Global asymptotic stabilization for systems without drift,” Université de Paris-Sud, Orsay, 1991.
6. C. Canudis de Wit and O. J. Sordalen, “Exponential stabilization of mobile wheeled robots with nonholonomic constraints,” In: IEEE Conf. Decision Contr., pp. 692–697, 1991.
7. G. Lafferriere and H. J. Sussmann, Motion planning for controllable systems without drift: a preliminary report. Tech. Rep., New York Univ. and Rutgers Univ., June 1990.
8. J-P. Laumond, “Controllability of a multibody mobile robot,” In: IEEE Internat. Conf. Contr. Appl., 1033–1038, Pisa, Italy, 1991.
9. J.P. Laumond and T. Siméon, “Motion planning for a two degrees of freedom mobile robot with towing,” in, IEEE Int. Conf. Contr. Appl., 1991.
10. R. Murray and S. Sastry. “Steering nonholonomic systems using sinusoids,” in IEEE Conf. Decision Contr., pp. 2097–2101, 1990.
11. J. A. Reeds and L. A. Shepp. “Optimal paths for a car that goes both forwards and backwards.” Pacific J. Math., vol. 145 no. 2, 1990.
12. Claude Samson. “Feedback stabilization of a nonholonomic car-like mobile robot,” In: IEEE Conf. Decision Contr., 1991.
13. D. Tilbury, J.P. Laumond, R. Murray, S. Sastry, and G. Walsh. “Steering car-like robots with trailers using sinusoids,” in IEEE Int. Conf. Robotics Automation, 1992.