Title :
Flat nonholonomic matching
Author :
Zenkov, Dmitry V. ; Bloch, Anthony M. ; Marsden, Jerrold E.
Author_Institution :
Dept. of Math., North Carolina State Univ., Raleigh, NC, USA
Abstract :
In this paper we extend the matching technique to a class of nonholonomic systems with symmetries. Assuming that the momentum equation defines an integrable distribution, we introduce a family of reduced systems. The method of controlled Lagrangians is then applied to these systems resulting in a smooth stabilizing controller.
Keywords :
optimal control; stability; controlled Lagrangians; flat nonholonomic matching; momentum equation; reduced systems; stabilizing controller; Control systems; Equations; Feedback control; Kinetic energy; Kinetic theory; Lagrangian functions; Mathematics; Motion control; Potential energy; Steady-state;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025215
