scientific article; zbMATH DE number 1301655

MaRDI QIDQ4246864zbMATH OpenFDO

Authors Eduardo D. Sontag

Publication date 1998

Mathematics Subject Classification ID

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)

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• Steering of a class of nonholonomic systems with drift terms
• Motion planning for drift-free nonholonomic systems under a discrete levels control constraint
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• On drift neutralization of stratified systems
• Lagrangian Jacobian inverse for nonholonomic robotic systems
• Constrained motion planning of nonholonomic systems
• Endogenous configuration space approach: an intersection of robotics and control theory
• Extended Jacobian inverse kinematics algorithms for mobile manipulators

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