Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published December 2001 | public
Book Section - Chapter

Controllability and Trajectory Tracking for Classes of Cascade-Form Second Order Nonholonomic Systems

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

Created:
August 19, 2023
Modified:
January 13, 2024