Controllability and trajectory tracking for classes of cascade-form second order nonholonomic systems

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2001, Pages 3031-3036

  Morgansen, Kristi A ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CASCADE CONTROL SYSTEMS; CONTROLLABILITY; KINEMATICS; LINEAR SYSTEMS; THEOREM PROVING;

NONHOLONOMIC SYSTEMS; TRAJECTORY TRACKING;

NONLINEAR SYSTEMS;

EID: 0035712202     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (23)

1. Nonholonomic control of a three-DOF planar underactuated manipulator
2. Nonholonomic control systems on Riemannian manifolds
3. Control and stabilization of nonholonomic dynamic systems
4. Asymptotic stability and feedback stabilization
5. Characteristic phenomena and model problems in nonlinear control
6. Controllability and motion algorithms for underactuated lagrangian systems on Lie groups
7. Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems
8. Controllability and state feedback stabilizability of nonholonomic mechanical systems
9. Exponential stabilization of mobile robots with nonholonomic constraints
10. Feedback control of a nonholonomic underwater vehicle with a constant desired configuration
11. Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles
12. When is a mechanical control system kinematic?
13. Configuration controllability of simple mechanical control systems
14. An approximation algorithm for nonholonomic systems
15. Trajectory tracking from approximate inversion for driftless nonholonomic systems
16. Nonholonomic motion planning: Steering using sinusoids
17. Dynamics and control of a class of underactuated mechanical systems
18. Exponential stabilization of nonholonomic chained systems
19. A general theorem on local controllability
20. Local controllability and motion planning for some classes of systems with drift