A global steering method for nonholonomic systems

DOI10.1016/J.JDE.2012.11.012MaRDI QIDQ1937376zbMATH OpenOpenAlexFDO

Authors Yacine Chitour, Frédéric Jean, Ruixing Long

Publication date 28 February 2013

Published in Journal of Differential Equations (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1206.6645

zbMATH Keywords

chained-form systemsdriftless control-affine systemsexplicit algebraic constructionglobal convergenceiterative steeringiterative steering algorithmLie Algebraic Rank Condition (LARC)nilpotent systemsnonholonomic systemssinusoidal controlsole assumption

Mathematics Subject Classification ID

Geometric methods (93B27) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: In this paper, we present an iterative steering algorithm for nonholonomic systems (also called driftless control-affine systems) and we prove its global convergence under the sole assumption that the Lie Algebraic Rank Condition (LARC) holds true everywhere. That algorithm is an extension of the one introduced in [21] for regular systems. The first novelty here consists in the explicit algebraic construction, starting from the original control system, of a lifted control system which is regular. The second contribution of the paper is an exact motion planning method for nilpotent systems, which makes use of sinusoidal control laws and which is a generalization of the algorithm described in [29] for chained-form systems.

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