DocumentCode
2297372
Title
Optimal control of underactuated nonholonomic mechanical systems
Author
Hussein, I. ; Bloch, A.
Author_Institution
Coordinated Sci. Lab., Illinois Univ., Urbana-Champaign, IL
fYear
2006
fDate
14-16 June 2006
Abstract
In this paper we use a nonholonomic affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. The class of nonholonomic systems we study in this paper includes, in particular, wheeled-type vehicles, which are important for many robotic locomotion systems. We illustrate our ideas by considering a simple example on a three-dimensional manifold
Keywords
actuators; mobile robots; optimal control; vehicles; nonholonomic affine connection formulation; optimal control; robotic locomotion systems; under-actuated mechanical systems; underactuated nonholonomic mechanical systems; wheeled-type vehicles; Control systems; Equations; Force control; Lagrangian functions; Mechanical systems; Mobile robots; Optimal control; Orbital robotics; Robot kinematics; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2006
Conference_Location
Minneapolis, MN
Print_ISBN
1-4244-0209-3
Electronic_ISBN
1-4244-0209-3
Type
conf
DOI
10.1109/ACC.2006.1657614
Filename
1657614
Link To Document