DocumentCode
2202091
Title
Transforming nonholonomic control systems into the canonical contact form
Author
Respondek, Witold
Author_Institution
Inst. Nat. des Sci. Appliquees de Rouen, Mont Saint Aignan, France
Volume
2
fYear
2001
fDate
2001
Firstpage
1781
Abstract
We give a new geometric characterization of nonholonomic control systems that are feedback-equivalent to the canonical contact system. This characterization uses only one involutive subdistribution in which all information about the geometry of the problem and its regularity is encoded. It also allows us to compute canonical coordinates and a feedback transformation that brings the system into the canonical contact form. We illustrate our results by applying them to the nonholonomic two-car system
Keywords
automobiles; feedback; geometry; nonlinear control systems; canonical contact form; canonical coordinates; feedback equivalence; feedback transformation; geometric characterization; involutive sudistribution; multi-steered systems; nonholonomic control systems; nonholonomic two-car system; problem regularity; Control systems; Feedback; Geometry; Path planning; State-space methods; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.981162
Filename
981162
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