DocumentCode
2100837
Title
Control of nonholonomic systems with dynamically decoupled actuators
Author
Getz, Neil H.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear
1993
fDate
15-17 Dec 1993
Firstpage
957
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325327
Filename
325327
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