Controlling of a mobile robot with a trailer and its nilpotent approximation
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Publication:2361646
DOI10.1134/S1560354716070017zbMath1402.70009arXiv1612.01344MaRDI QIDQ2361646
Publication date: 30 June 2017
Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)
Full work available at URL: https://arxiv.org/abs/1612.01344
Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60) Nilpotent and solvable Lie groups (22E25) Differential geometric aspects in kinematics (53A17) Applications of variational problems to control theory (58E25)
Related Items (3)
Cut time in the sub-Riemannian problem on the Cartan group ⋮ Control of a mobile robot with a trailer based on nilpotent approximation ⋮ A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
Uses Software
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