DocumentCode
2844092
Title
A unified control architecture for navigation of nonholonomic systems
Author
Jarzebowska, E.M.
Author_Institution
Inst. of Aeronaut. & Appl. Mech., Warsaw Univ. of Technol., Warsaw, Poland
fYear
2011
fDate
June 29 2011-July 1 2011
Firstpage
1714
Lastpage
1719
Abstract
The paper presents a unified control architecture for motion planning and navigation of constrained systems. It provides a systematic approach for planning any motion that may be specified by equations of algebraic or differential constraints. It is based upon one dynamic control model for constrained systems, which is not sensitive to the constraint kind and order. The preplanned reference motion may be executed by nonlinear control algorithms.
Keywords
algebra; constraint handling; nonlinear control systems; path planning; algebraic equation; constrained system navigation; differential constraint; dynamic control model; motion planning; nonholonomic system navigation; nonlinear control algorithm; preplanned reference motion; unified control architecture; Dynamics; Equations; Heuristic algorithms; Kinematics; Materials; Mathematical model; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2011
Conference_Location
San Francisco, CA
ISSN
0743-1619
Print_ISBN
978-1-4577-0080-4
Type
conf
DOI
10.1109/ACC.2011.5990624
Filename
5990624
Link To Document