Steering of a class of nonholonomic systems with drift terms

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In the present paper nonholonomic systems with drift terms are studied. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. We present an approach to open-loop path planning in which the system evolution is studied on manifolds of dimension equal to the number of control inputs. A control procedure is derived and it is applied to the planar diver. 1999 Elsevier Science Ltd. All rights reserved.

J.-M. Godhavn, A. Balluchi, L. S. Crawford, S. S.

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AUTOMATICA 1999 | Cyclic Coordinate | Elsevier Science Ltd | Paper Nonholonomic Systems |

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Added	22 Dec 2010
Updated	22 Dec 2010
Type	Journal
Year	1999
Where	AUTOMATICA
Authors	J.-M. Godhavn, A. Balluchi, L. S. Crawford, S. S. Sastry

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Steering of a class of nonholonomic systems with drift terms

AUTOMATICA 1999 | Cyclic Coordinate | Elsevier Science Ltd | Paper Nonholonomic Systems |

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