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Steering nonholonomic systems in chained form

Murray, Richard M. and Sastry, S. Shankar (1991) Steering nonholonomic systems in chained form. In: Proceedings of the 30th IEEE Conference on Decision and Control. Vol.2. IEEE , Piscataway, NJ, pp. 1121-1126. ISBN 0-7803-0450-0.

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The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For the case of a nonholonomic system with two inputs, they give constructive conditions for the existence of a feedback transformation which puts the system into chained form, and show how to steer the system between arbitrary states. Examples are presented for steering a car and a car with a trailer attached: other examples can be found in the areas of space robotics and multifingered robot hands. The present results also have applications in the area of nilpotentization of distributions of vector fields on R^n.

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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1991 IEEE. Research supported in part by the National Science Foundation under grant IRI-90-14490. The authors would like to thank Richard Montgomery, Jean-Paul Laumond, Hector Sussmann and the members of the UC Berkeley Robotics Lab for many useful discussions in the area of nonholonomic motion planning.
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NSFIRI 90-14490
Record Number:CaltechAUTHORS:20190319-105627176
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Official Citation:R. M. Murray and S. S. Sastry, "Steering nonholonomic systems in chained form," [1991] Proceedings of the 30th IEEE Conference on Decision and Control, Brighton, UK, 1991, pp. 1121-1126 vol.2. doi: 10.1109/CDC.1991.261508
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93965
Deposited By: Tony Diaz
Deposited On:19 Mar 2019 18:05
Last Modified:16 Nov 2021 17:01

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