Controllability and motion planning for noncatastatic nonholonomic control systems

DOI10.1016/0895-7177(96)00078-7zbMath0854.93051OpenAlexW1969207991MaRDI QIDQ1922181

N. Harris Mcclamroch, Ilya V. Kolmanovsky

Publication date: 22 January 1997

Published in: Mathematical and Computer Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0895-7177(96)00078-7

zbMATH Keywords

averaging techniquemotion planningdriftnonlinear controllabilitynoncatastatic nonholonomic control systemsroot finding technique

Mathematics Subject Classification ID

Controllability (93B05) Nonlinear systems in control theory (93C10) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items

Stabilization and tracking in the nonholonomic integrator via sliding modes ⋮ Switched mode feedback control laws for nonholonomic systems in extended power form ⋮ Stabilization and tracking control for an extended Heisenberg system with a drift

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