Title :
Transforming nonholonomic control systems into the canonical contact form
Author :
Respondek, Witold
Author_Institution :
Inst. Nat. des Sci. Appliquees de Rouen, Mont Saint Aignan, France
Abstract :
We give a new geometric characterization of nonholonomic control systems that are feedback-equivalent to the canonical contact system. This characterization uses only one involutive subdistribution in which all information about the geometry of the problem and its regularity is encoded. It also allows us to compute canonical coordinates and a feedback transformation that brings the system into the canonical contact form. We illustrate our results by applying them to the nonholonomic two-car system
Keywords :
automobiles; feedback; geometry; nonlinear control systems; canonical contact form; canonical coordinates; feedback equivalence; feedback transformation; geometric characterization; involutive sudistribution; multi-steered systems; nonholonomic control systems; nonholonomic two-car system; problem regularity; Control systems; Feedback; Geometry; Path planning; State-space methods; Tracking;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981162
