TY - GEN
T1 - A globally convergent steering algorithm for regular nonholonomic systems
AU - Jean, Frédéric
AU - Oriolo, Giuseppe
AU - Vendittelli, Marilena
PY - 2005/12/1
Y1 - 2005/12/1
N2 - We present a steering algorithm for regular - i.e., without singularities - nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system. The algorithm is amenable to extension to systems with singularities.
AB - We present a steering algorithm for regular - i.e., without singularities - nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system. The algorithm is amenable to extension to systems with singularities.
U2 - 10.1109/CDC.2005.1583374
DO - 10.1109/CDC.2005.1583374
M3 - Conference contribution
AN - SCOPUS:33847201909
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 7514
EP - 7519
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -