Title :
Control of nonholonomic systems with dynamically decoupled actuators
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A compensator is derived for a class of nonholonomic systems incorporating both dynamically coupled and uncoupled actuators. The compensator affords exponential convergence to smooth trajectories in a reduced state space
Keywords :
actuators; compensation; convergence; dynamics; nonlinear control systems; dynamically decoupled actuators; exponential convergence; nonholonomic systems; reduced state space; smooth trajectories; uncoupled actuators; Actuators; Axles; Control engineering; Control systems; Convergence; Equations; Erbium; Mechanical systems; State-space methods; Wheels;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325327
