We present a steering algorithm for regular - i.e., without singularities - nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system. The algorithm is amenable to extension to systems with singularities. © 2005 IEEE.
A globally convergent steering algorithm for regular nonholonomic systems / F., Jean; Oriolo, Giuseppe; Vendittelli, Marilena. - 2005:(2005), pp. 7514-7519. (Intervento presentato al convegno 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 tenutosi a Seville nel 12 December 2005 through 15 December 2005) [10.1109/cdc.2005.1583374].
A globally convergent steering algorithm for regular nonholonomic systems
ORIOLO, Giuseppe;VENDITTELLI, Marilena
2005
Abstract
We present a steering algorithm for regular - i.e., without singularities - nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system. The algorithm is amenable to extension to systems with singularities. © 2005 IEEE.| File | Dimensione | Formato | |
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