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
fDate :
June 29 2011-July 1 2011
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;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5990624
