Cart (Loading....) | Create Account
Close category search window
 

Fourier series based method of generating continuous controls for driftless nonholonomic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Duleba, I. ; Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland ; Sowka, J.

A computationally effective method is presented able to generate controls steering a driftless nonholonomic system in a desired direction. By using the Campbell-Baker-Hausdorff-Dynkin formula piecewise constant controls are obtained that realize the desired motion. Then, the controls are expanded into the Fourier series with filtered out higher frequencies. Resulting continuous controls are applied to a driftless nonholonomic system in order to identify a linear combination of Ph. Hall basis elements corresponding to the controls. This approach allows us to generate a desired vector field of the lowest degree keeping at the same time under control the influence of higher degree vector fields

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.