Add to ORKGThe authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included
This paper proposes a simple numerical technique for the steering of arbitrary analytic systems with...
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract—We present a framework for the stabilization of non-holonomic systems that do not possess s...
The authors present a control law for globally asymptotically stabilizing a class of controllable no...
Methods for steering systems with nonholonomic constraints between arbitrary configurations are inve...
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known ...
In this paper, we present an iterative steering algorithm for nonholonomic systems (also called drif...
Methods for steering systems with nonholonomic constraints between arbitrary configurations are inve...
A theoretical framework is established for the control of nonholonomic dynamic systems, i.e. dynamic...
Methods for steering car-like robots with trailers are investigated. A connection is demonstrated be...
The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For...
International audienceIn this paper, we extend the globally convergent steering algorithm for regula...
This paper proposes a simple numerical technique for the steering of arbitrary analytic systems with...
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract—We present a framework for the stabilization of non-holonomic systems that do not possess s...
The authors present a control law for globally asymptotically stabilizing a class of controllable no...
Methods for steering systems with nonholonomic constraints between arbitrary configurations are inve...
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known ...
In this paper, we present an iterative steering algorithm for nonholonomic systems (also called drif...
Methods for steering systems with nonholonomic constraints between arbitrary configurations are inve...
A theoretical framework is established for the control of nonholonomic dynamic systems, i.e. dynamic...
Methods for steering car-like robots with trailers are investigated. A connection is demonstrated be...
The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For...
International audienceIn this paper, we extend the globally convergent steering algorithm for regula...
This paper proposes a simple numerical technique for the steering of arbitrary analytic systems with...
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract—We present a framework for the stabilization of non-holonomic systems that do not possess s...