Control of non holonomic or under-actuated mechanical systems: The examples of the unicycle robot and the slider

DOI10.1051/cocv/2016047zbMath1350.93068OpenAlexW2470438958MaRDI QIDQ2835346

Sylvain Thorel, Brigitte d'Andréa-Novel

Publication date: 2 December 2016

Published in: ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1051/cocv/2016047

zbMATH Keywords

trajectory trackingtime-varying feedbacknonholonomic mechanical systemsunder-actuated systemsfixed-point stabilizationdifferential flatness propertypersistence of excitation condition

Mathematics Subject Classification ID

Controllability (93B05) Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60)

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