Add to ORKGExisting methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system. Simulation results illustrate the performance of the method
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract: We consider the feedback control problem for a wheeled mobile robot with the kinematics of...
The object of this doctoral thesis is to develop novel theoretical results and practical techniques...
Abstract—We present a framework for the stabilization of non-holonomic systems that do not possess s...
We present a framework for the stabilization of nonholonomic systems that do not possess special pro...
Applies some previously developed control laws for stabilization of mechanical systems with non-holo...
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known ...
In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, ch...
Bi-steerable cars are four wheel drive robots with a double-axle steering capability. We tackle the ...
In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, ch...
The control of nonholonomic systems is a challenging theoretical problem that has numerous engineeri...
We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a si...
In this paper, we address the problem of ε-tracking and ε-stabilization for a class of SE(2) vehicle...
We consider the problem of planning point-to-point motion for general robotic systems subject to non...
In this paper, we address ɛ-tracking and ɛ-stabilization for a class of SE(2) autonomous vehicles wi...
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract: We consider the feedback control problem for a wheeled mobile robot with the kinematics of...
The object of this doctoral thesis is to develop novel theoretical results and practical techniques...
Abstract—We present a framework for the stabilization of non-holonomic systems that do not possess s...
We present a framework for the stabilization of nonholonomic systems that do not possess special pro...
Applies some previously developed control laws for stabilization of mechanical systems with non-holo...
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known ...
In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, ch...
Bi-steerable cars are four wheel drive robots with a double-axle steering capability. We tackle the ...
In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, ch...
The control of nonholonomic systems is a challenging theoretical problem that has numerous engineeri...
We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a si...
In this paper, we address the problem of ε-tracking and ε-stabilization for a class of SE(2) vehicle...
We consider the problem of planning point-to-point motion for general robotic systems subject to non...
In this paper, we address ɛ-tracking and ɛ-stabilization for a class of SE(2) autonomous vehicles wi...
Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynam...
Abstract: We consider the feedback control problem for a wheeled mobile robot with the kinematics of...
The object of this doctoral thesis is to develop novel theoretical results and practical techniques...