Control of non holonomic or under-actuated mechanical systems: the examples of the unicycle robot and the slider

DOI10.1051/COCV/2016047MaRDI QIDQ2835346zbMATH OpenOpenAlexFDO

Authors Sylvain Thorel, B. d'Andréa-Novel

Publication date 2 December 2016

Published in European Series in Applied and Industrial Mathematics (ESAIM): Control, Optimization and Calculus of Variations (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1051/cocv/2016047

zbMATH Keywords

nonholonomic mechanical systemstrajectory trackingtime-varying feedbackunder-actuated systemsfixed-point stabilizationdifferential flatness propertypersistence of excitation condition

Mathematics Subject Classification ID

Controllability (93B05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15) Nonholonomic dynamical systems (37J60)

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Cited in

(2)

• A novel online gait optimization approach for biped robots with point-feet
• Small-time stabilization of homogeneous cascaded systems with application to the unicycle and the slider examples

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