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Stabilization of trajectories for systems with nonholonomic constraints

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5 Author(s)
Walsh, G. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Tilbury, D. ; Sastry, S. ; Murray, R.
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A technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. The authors suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired nominal feasible trajectory, an explicit control law which will locally exponentially stabilize the system to the desired trajectory is given. The theory is applied to several examples, including a car-like robot

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992

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