Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation

DOI10.1007/978-3-540-73890-9_19zbMath1136.93012OpenAlexW85935411MaRDI QIDQ5436777

Shigeki Nakaura, Mitsuji Sampei, Tsuyoshi Sagami

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_19

zbMATH Keywords

coordinate transformationaffine nonholonomic systemstwo linear subsystems

Mathematics Subject Classification ID

Transformations (93B17) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation

Cites Work

• Exponential stabilization of an underactuated autonomous surface vessel
• Discontinuous exponential stabilization of chained form systems
• Discontinuous control of high-order generalized chained systems
• Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation
• Unnamed Item

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