Control properties of underactuated vehicles

Author

Wichlund, K.Y. ; Sørdalen, O.J. ; Egeland, O.

Author_Institution

Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

2009

Abstract

This paper studies control properties of the dynamics of underactuated vehicles (e.g. underactuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and sufficient conditions for these constraints to be second-order nonholonomic, first-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational field where the elements corresponding to the unactuated dynamics are zero, are not C¹ asymptotically stabilizable to a single equilibrium

Keywords

asymptotic stability; dynamics; gravitation; kinematics; nonlinear systems; path planning; robots; vehicles; acceleration constraint; asymptotic stability; dynamics; gravitational field; holonomic systems; motion planning; necessary condition; nonholonomic system; robots; sufficient condition; underactuated vehicles; Acceleration; Aerodynamics; Control systems; Kinematics; Manipulator dynamics; Motion planning; Robotics and automation; Space vehicles; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525558

Filename

525558