The essential introduction to the principles and applications of feedback systems—now fully
revised and expanded This textbook covers the mathematics needed to model, analyze, and …

We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …

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 …

Page 1 RINGMATHEMATICALENGINEERINGMATHEMAT RINGMATHEMATICAL
ENGINEERINGMATHEMA Jean Lévine Analysis and Control of Nonlinear Systems A …

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 …

This paper describes the application of di erential atness techniques from nonlinear control
theory to mechanical (Lagrangian) systems. Systems which are di erentially at have several …

We are interested in using low-degree-of-freedom robots to perform complex tasks by
nonprehensile manipulation (manipulation without aformorforce-closure grasp). By …

This paper presents the first motion planning methodology applicable to articulated,
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …

Recent advances in geometric mechanics, motivated in large part by applications in control
theory, have introduced new tools for understanding and utilizing the structure present in …

Develops the machinery of exterior differential forms, more particularly the Goursat normal
form for a Pfaffian system, for solving nonholonomic motion planning problems, ie, motion …