Steering for a class of dynamic nonholonomic systems

DOI10.1109/9.871757MaRDI QIDQ2730193zbMATH OpenOpenAlexFDO

Authors Jim Ostrowski

Publication date 5 August 2001

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://repository.upenn.edu/cis_reports/161

zbMATH Keywords

geometric methodsLie group symmetriesnonholonomic systemsnonlinear controlsteering using sinusoids

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10)

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(13)

• Reduced equations for nonholonomic mechanical systems with dissipative forces
• Steering dynamical trajectories to target a desired state
• Sinusoidal control and limit cycle analysis of the dissipative Chaplygin sleigh
• A global steering method for nonholonomic systems
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• Steering Control for a Rigid Body with two Torque Actuators using Adaptive Back Stepping
• Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy
• Steering algorithm for drift free control systems
• The role of connection in the nonlinear behavior of locomotion systems with symmetry
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