A framework for the stabilization of general nonholonomic systems with an application to the plate-ball mechanism

IEEE Transactions on Robotics

Volumn 21, Issue 2, 2005, Pages 162-175

  Oriolo, Giuseppe ^a   Vendittelli, Marilena ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Iterative steering (IS); Nilpotent approximations (NAs); Nonholonomic systems; Plate ball mechanism; Stabilization

Indexed keywords

APPROXIMATION THEORY; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; ITERATIVE METHODS; MANIPULATORS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; PERTURBATION TECHNIQUES; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

ITERATIVE CONTROL; ITERATIVE STEERING (IS); NILPOTENT APPROXIMATIONS (NAS); NILPOTENTIZABILITY; NONHOLONOMIC SYSTEMS; PLATE BALL MECHANISM; STEERING CONTROL; SYSTEM DYNAMICS;

ROBOTICS;

EID: 18144362486     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.839231     Document Type: Article

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