| Title:
|
Control of nonholonomic systems via dynamic compensation (English) |
| Author:
|
De Luca, Alessandro |
| Author:
|
Di Benedetto, Marika D. |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
29 |
| Issue:
|
6 |
| Year:
|
1993 |
| Pages:
|
593-608 |
| . |
| Category:
|
math |
| . |
| MSC:
|
70F25 |
| MSC:
|
70Q05 |
| MSC:
|
93B52 |
| MSC:
|
93C10 |
| idZBL:
|
Zbl 0802.93023 |
| idMR:
|
MR1264889 |
| . |
| Date available:
|
2009-09-24T18:44:04Z |
| Last updated:
|
2012-06-06 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/125032 |
| . |
| Reference:
|
[1] A. M. Bloch, N. H. McClamroch: Control of mechanical systems with classical nonholonomic constraints.In: Proc. 28th IEEE Conf. on Decision and Control, Tampa, FL, 1989, pp. 201-205. MR 1038930 |
| Reference:
|
[2] A.M. Bloch M. Reyhanoglu, N. H. McClamroch: Control and stabilization of nonholonomic dynamic systems.IEEE Trans. Automat. Control 57 (1992), 11, 1746-1757. MR 1195215 |
| Reference:
|
[3] R. W. Brockett: Asymptotic stability and feedback stabilization.In: Differential Geometric Control Theory (R. Brockett, R. S. Millmann and H.J. Sussmann, eds.), Birkhauser, Boston, MA, 1983, pp. 181-191. Zbl 0528.93051, MR 0708502 |
| Reference:
|
[4] G. Campion B. d'Andrea-Novel, G. Bastin: Structural properties of nonholonomic mechanical systems.In: Proc. 1st European Control Conference, Grenoble 1991, pp. 2089-2094. |
| Reference:
|
[5] C. Canudas de Wit, O. J. Sørdalen: Exponential stabilization of mobile robots with nonholonomic constraints.IEEE Trans. Automat. Control 57 (1992), 11, 1791-1797. MR 1195224 |
| Reference:
|
[6] J.-M. Coron: Global asymptotic stabilization for controllable systems without drift.Math. Control Signals Systems 5 (1992), 295-312. Zbl 0760.93067, MR 1164379 |
| Reference:
|
[7] B. d'Andrea-Novel G. Bastin, G. Campion: Dynamic feedback linearization of nonholonomic wheeled mobile robots.In: Proc. 1992 IEEE Internat. Conf. on Robotics and Automation, Nice 1992, pp. 2527-2532. |
| Reference:
|
[8] A. De Luca L. Lanari, G. Oriolo: Control of redundant robots on cyclic trajectories.In: Proc. 1992 IEEE Internat. Conf. on Robotics and Automation, Nice 1992, pp. 500-506. |
| Reference:
|
[9] J. Descusse, D. H. Moog: Dynamic decoupling for right-invertible nonlinear systems.Systems Control Lett. 8 (1987), 345-349. Zbl 0617.93024, MR 0884884 |
| Reference:
|
[10] M. D. Di Benedetto, J. W. Grizzle: An analysis of regularity conditions in nonlinear synthesis.In: Analysis and Optimization of Systems (A. Bensoussan and J. L. Lions, eds., Lecture Notes in Control and Information Sciences 144), Springer-Verlag, Berlin - Heidelberg - New York 1990, pp. 843-850. Zbl 0709.93040 |
| Reference:
|
[11] A. Isidori: Nonlinear Control Systems.Second edition. Springer-Verlag, Berlin - Heidelberg - New York 1989. |
| Reference:
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[12] G. Lafferriere, H. J. Sussmann: Motion planning for controllable systems without drift: A preliminary report.Report SYCON-90-04, Rutgers University, N.J., July 1990. |
| Reference:
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[13] J. P. Laumond: Nonholonomic motion planning versus controllability via the multibody car system example.Report STAN-CS-90-1345, Stanford University, CA, December 1990. |
| Reference:
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[14] R. Marino: On the largest feedback linearizable subsystem.Systems Control Lett. 6 (1986), 345-351. MR 0821930 |
| Reference:
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[15] R. M. Murray, S. S. Sastry: Steering nonholonomic systems in chained form.In: Proc. 30th IEEE Conf. on Decision and Control, Brighton 1991, pp. 1121-1126. |
| Reference:
|
[16] G. Oriolo, Y. Nakamura: Control of mechanical systems with second-order non-holonomic constraints: Underactuated manipulators.In: Proc. 30th IEEE Conf. on Decision and Control, Brighton 1991, pp. 2394-2403. |
| Reference:
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[17] J.-B. Pomet: Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift.Systems Control Lett. 18 (1992), 147-158. Zbl 0744.93084, MR 1149359 |
| Reference:
|
[18] J.-B. Pomet B. Thuilot G. Bastin, G. Campion: A hybrid strategy for the feed- back stabilization of nonholonomic mobile robots.In: Proc. 1992 IEEE Internat. Conf. on Robotics and Automation, Nice 1992, pp. 129-134. |
| Reference:
|
[19] M. Reyhanoglu, N. H. McClamroch: Reorientation of space multibody systems maintaining zero angular momentum.In: Proc. 1991 AIAA Conf. on Guidance, Navigation, and Control, New Orleans 1991, pp. 1330-1340. |
| Reference:
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[20] C. Samson, K. Ait-Abderrahim: Feedback control of a nonholonomic wheeled cart in cartesian space.In: Proc. 1991 IEEE Internat. Conf. on Robotics and Automation, Sacramento 1991, pp. 1136-1141. |
| Reference:
|
[21] H. J. Sussmann: A general theorem on local controllability.SIAM J. Control Optim. 25 (1987), 1, 158-194. Zbl 0629.93012, MR 0872457 |
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[22] H. J. Sussmann: Local controllability and motion planning for some classes of systems with drift.In: Proc. 30th IEEE Conf. on Decision and Control, Brighton 1991, pp. 1110-1114. |
| Reference:
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