Nonholonomic motion planning: Steering using sinusoids
RM Murray, SS Sastry - IEEE transactions on Automatic Control, 1993 - ieeexplore.ieee.org
Methods for steering systems with nonholonomic c. onstraints between arbitrary
configurations are investigated. Suboptimal trajectories are derived for systems that are not …
configurations are investigated. Suboptimal trajectories are derived for systems that are not …
Developments in nonholonomic control problems
I Kolmanovsky, NH McClamroch - IEEE Control systems …, 1995 - ieeexplore.ieee.org
Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …
published literature has grown enormously during the last six years, and it is now possible to …
Control of a nonholonomic mobile robot using neural networks
A control structure that makes possible the integration of a kinematic controller and a neural
network (NN) computed-torque controller for nonholonomic mobile robots is presented. A …
network (NN) computed-torque controller for nonholonomic mobile robots is presented. A …
[图书][B] Control and stabilization of nonholonomic dynamic systems
M Reyhanoglu - 1992 - search.proquest.com
A theoretical framework is established for the control of nonholonomic dynamic systems, ie
dynamic systems with nonintegrable constraints. In particular, we emphasize control …
dynamic systems with nonintegrable constraints. In particular, we emphasize control …
[图书][B] Lectures on mechanics
JE Marsden - 1992 - books.google.com
The use of geometric methods in classical mechanics has proven fruitful, with wide
applications in physics and engineering. In this book, Professor Marsden concentrates on …
applications in physics and engineering. In this book, Professor Marsden concentrates on …
Coordinating locomotion and manipulation of a mobile manipulator
Y Yamamoto, X Yun - [1992] Proceedings of the 31st IEEE …, 1992 - ieeexplore.ieee.org
A planning and control algorithm for coordinating the motion of a mobile manipulator is
presented. The design criterion is to control the mobile platform so that the manipulator is …
presented. The design criterion is to control the mobile platform so that the manipulator is …
[图书][B] Robotics and automation handbook
TR Kurfess - 2005 - api.taylorfrancis.com
Robots are machines that have interested the general population throughout history. In
general, they are machines or devices that operate automatically or by remote control …
general, they are machines or devices that operate automatically or by remote control …
Exponential stabilization of mobile robots with nonholonomic constraints
CC De Wit, OJ Sordalen - [1991] Proceedings of the 30th IEEE …, 1991 - ieeexplore.ieee.org
The authors present an exponentially stable controller for a two degree of freedom robot with
nonholonomic constraints. They propose a piecewise smooth controller to make the origin …
nonholonomic constraints. They propose a piecewise smooth controller to make the origin …
Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
The tracking control problem with saturation constraint for a class of unicycle-modeled
mobile robots is formulated and solved using the backstepping technique and the idea from …
mobile robots is formulated and solved using the backstepping technique and the idea from …
Control of nonholonomic wheeled mobile robots by state feedback linearization
B d'Andréa-Novel, G Campion… - … International journal of …, 1995 - journals.sagepub.com
We are concerned in this article with the control of wheeled mobile robots, which constitute a
class of nonholonomic mech anical systems. More precisely, we are interested in solving the …
class of nonholonomic mech anical systems. More precisely, we are interested in solving the …