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Steering nonholonomic systems using sinusoids

Murray, Richard M. and Sastry, S. Shankar (1990) Steering nonholonomic systems using sinusoids. In: 29th IEEE Conference on Decision and Control. Vol.4. IEEE , Piscataway, NJ, pp. 2097-2101.

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Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. R.W. Brockett (1981) derived the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their (first-order) Lie brackets. Using Brockett's result as motivation, the authors derive suboptimal trajectories for systems which are not in canonical form and consider systems in which it takes more than one level of bracketing to achieve controllability. These trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. Examples and simulation results are presented.

Item Type:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1990 IEEE. Supported in part by an IBM Manufacturing Fellowship. Supported in part by NSF-PYI grant DMC84-51129.
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NSFDMC 84-51129
Record Number:CaltechAUTHORS:20190319-081854942
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Official Citation:R. M. Murray and S. S. Sastry, "Steering nonholonomic systems using sinusoids," 29th IEEE Conference on Decision and Control, Honolulu, HI, USA, 1990, pp. 2097-2101 vol.4. doi: 10.1109/CDC.1990.203994
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93951
Deposited By: Tony Diaz
Deposited On:19 Mar 2019 18:22
Last Modified:16 Nov 2021 17:01

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