The multi‐steering N‐trailer system: A case study of goursat normal forms and prolongations

DOI10.1002/RNC.4590050410MaRDI QIDQ4847425zbMATH OpenOpenAlexFDO

Authors Dawn M. Tilbury, S. Shankar Sastry

Publication date 20 September 1995

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.4590050410

zbMATH Keywords

mobile robotspath planningPfaffian systemGoursat normal form

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(5)

• Adaptive robust control of nonholonomic systems with stochastic disturbances
• The geometry, controllability, and flatness property of the \(n\)-bar system
• A constructive generalised Goursat normal form
• State and output feedback stabilization of multiple chained systems with discontinuous control
• Trajectory generation for the N-trailer problem using Goursat normal form

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