Title :
Controllability and stabilizability properties of a nonholonomic control system
Author :
Bloch, Anthony M. ; Reyhanoglu, M.
Author_Institution :
Dept. of Math., Ohio State Univ., Columbus, OH
Abstract :
Controllability and stabilizability properties are examined for a control system with a nonholonomic constraint. A representative nonholonomic control system example is discussed: the control of a knife edge moving on a plane surface. This example contains the essential features of the general case. It is noted that conditions for small-time local controllability are satisfied. An explicit open loop control is then given which transfers the knife edge to a single equilibrium and an explicit stabilizing feedback control
Keywords :
control system analysis; controllability; feedback; stability; controllability; feedback; nonholonomic control system; open loop control; stability; stabilizability; Constraint theory; Control systems; Controllability; Feedback control; Force control; Mathematics; Mechanical systems; Motion control; Open loop systems; Torque control;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203820
