Title of article
Controllability and motion planning for noncatastatic nonholonomic control systems
Author/Authors
Kolmanovsky، نويسنده , , I. and McClamroch، نويسنده , , N.H.، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 1996
Pages
12
From page
31
To page
42
Abstract
A motion planning problem for a class of noncatastatic nonholonomic control systems is considered. Under appropriate controllability assumptions we determine an open loop control function which steers the system from a specified initial state to a specified final state over a specified time interval. The method is based on combining second order averaging technique and a finite-dimensional root finding technique.
Keywords
motion planning , Nonlinear controllability , Nonholonomic control systems , averaging , Nonlinear control systems with drift
Journal title
Mathematical and Computer Modelling
Serial Year
1996
Journal title
Mathematical and Computer Modelling
Record number
1590515
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