Title :
Controllability and trajectory tracking for classes of cascade-form second order nonholonomic systems
Author :
Morgansen, Kristi A.
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We discuss classes of nonlinear systems with drift that can be reduced to the cascade of a linear system and a drift-free nonholonomic system. Building on previous work with amplitude-modulated sinusoids for trajectory tracking in drift-free systems, we present algorithms for configuration trajectory tracking in these dynamic settings. Results are demonstrated in simulation for representative examples
Keywords :
cascade systems; controllability; feedback; kinematics; nonlinear control systems; tracking; amplitude-modulated sinusoids; cascade-form second order nonholonomic systems; configuration trajectory tracking; controllability; drift-free nonholonomic system; linear system; Actuators; Control systems; Controllability; Kinematics; Nonlinear control systems; Nonlinear systems; Space vehicles; Trajectory; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980739
