Published December 1992
| Published
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Nonholonomic control systems: from steering to stabilization with sinusoids
- Creators
- Teel, Andrew R.
-
Murray, Richard M.
- Walsh, Greg
Abstract
The 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.
Additional Information
© 1992 IEEE. Research supported in part by the Army under grant ARO DAAL-91-G-0191, and NASA under grant NAG2-243.Attached Files
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Additional details
- Eprint ID
- 93999
- Resolver ID
- CaltechAUTHORS:20190320-134725249
- DAAL-91-G-0191
- Army Research Office (ARO)
- NAG2-243
- NASA
- Created
-
2019-03-20Created from EPrint's datestamp field
- Updated
-
2021-11-16Created from EPrint's last_modified field