Morgansen, Kristi A. (2001) Controllability and Trajectory Tracking for Classes of Cascade-Form Second Order Nonholonomic Systems. In: Proceedings of the 40th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control . IEEE , Piscataway, N.J., pp. 3031-3036. ISBN 0-7803-7061-9 http://resolver.caltech.edu/CaltechAUTHORS:20111118-113002349
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We discuss classes of nonlinear systems with drift that can be reduced to the cascade of a linear system and a drift-free nonholonomic system. Building on previous work with amplitude-modulated sinusoids for trajectory tracking in drift-free systems, we present algorithms for configuration trajectory tracking in these dynamic settings. Results are demonstrated in simulation for representative examples.
|Item Type:||Book Section|
|Additional Information:||© 2001 IEEE. Date of Current Version: 06 August 2002. This work was supported in part by the US Army Research Office under grants DAAG-55-97-1-0114 (Center for Dynamics and Control of Smart Structures) and DAAL-03-92-G-0115 (Center for Intelligent Control Systems), by Brown University under grant DAAH-04-96-1-0445 and by the National Science Foundation through an Engineering Research Center grant and through NSF grant CMS-9502224.|
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|Official Citation:||Morgansen, K.A.; , "Controllability and trajectory tracking for classes of cascade-form second order nonholonomic systems," Decision and Control, 2001. Proceedings of the 40th IEEE Conference on , vol.3, no., pp.3031-3036 vol.3, 2001 doi: 10.1109/.2001.980739 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=980739&isnumber=21122|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Ruth Sustaita|
|Deposited On:||21 Nov 2011 16:55|
|Last Modified:||21 Nov 2011 16:55|
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