Title :
Digital control of nonholonomic systems two case studies
Author :
Chelouah, A. ; Giamberardino, P. Di ; Monaco, S. ; Normand-Cyrot, D.
Author_Institution :
Lab. des Signaux et Syst., CNRS, Gif-sur-Yvette, France
Abstract :
It is shown, through two classical examples, that multirate control can be very effective for solving the motion planning problem. The theory is discussed for a car with one trailer and a hopping robot. Simulation results concerning exact steering and path following are presented
Keywords :
automobiles; digital control; discrete systems; kinematics; mobile robots; path planning; car; digital control; exact steering; hopping robot; motion planning; multirate control; nonholonomic systems; path following; Computer aided software engineering; Control systems; Digital control; Equations; Motion control; Orbital robotics; Robot kinematics; Silicon compounds; State feedback; Velocity control;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325680
