Published December 2001
| public
Book Section - Chapter
Controllability and Trajectory Tracking for Classes of Cascade-Form Second Order Nonholonomic Systems
- Creators
- Morgansen, Kristi A.
Abstract
We discuss classes of nonlinear systems with drift that can be reduced to the cascade of a linear system and a drift-free nonholonomic system. Building on previous work with amplitude-modulated sinusoids for trajectory tracking in drift-free systems, we present algorithms for configuration trajectory tracking in these dynamic settings. Results are demonstrated in simulation for representative examples.
Additional Information
© 2001 IEEE. Date of Current Version: 06 August 2002. This work was supported in part by the US Army Research Office under grants DAAG-55-97-1-0114 (Center for Dynamics and Control of Smart Structures) and DAAL-03-92-G-0115 (Center for Intelligent Control Systems), by Brown University under grant DAAH-04-96-1-0445 and by the National Science Foundation through an Engineering Research Center grant and through NSF grant CMS-9502224.Additional details
- Eprint ID
- 27859
- Resolver ID
- CaltechAUTHORS:20111118-113002349
- DAAG-55-97-1-0114
- Army Research Office (ARO) Center for Dynamics and Control of Smart Structures
- DAAL-03-92-G-0115
- Army Research Office (ARO) Center for Intelligent Control Systems
- DAAH-04-96-1-0445
- Brown University
- NSF Engineering Research Center grant
- CMS-9502224
- NSF
- Created
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2011-11-21Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field
- Series Name
- IEEE Conference on Decision and Control
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 7212168