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Controllability and Trajectory Tracking for Classes of Cascade-Form Second Order Nonholonomic Systems

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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Abstract

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
Related URLs:
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http://dx.doi.org/10.1109/.2001.980739DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=980739PublisherUNSPECIFIED
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.
Funders:
Funding AgencyGrant Number
Army Research Office (ARO) Center for Dynamics and Control of Smart StructuresDAAG-55-97-1-0114
Army Research Office (ARO) Center for Intelligent Control SystemsDAAL-03-92-G-0115
Brown UniversityDAAH-04-96-1-0445
NSF Engineering Research Center grant UNSPECIFIED
NSFCMS-9502224
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INSPEC Accession Number7212168
Record Number:CaltechAUTHORS:20111118-113002349
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20111118-113002349
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.
ID Code:27859
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Nov 2011 16:55
Last Modified:21 Nov 2011 16:55

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