DocumentCode
3261882
Title
Nonholonomic path following with fastly oscillating controls
Author
Jakubczyk, Bronislaw
Author_Institution
Inst. of Math., Warsaw, Poland
fYear
2013
fDate
3-5 July 2013
Firstpage
99
Lastpage
103
Abstract
We outline a method of finding sinusoidal controls which assure a semi-exact path following. The method is designed primarily for non-admissible paths and controllable nonholonomic systems. The fastly oscillating sinusoidal controls generate (in approximate sense) new control variables which enable to control new directions. In this way the system becomes, approximately, fully controllable and any path can be followed with arbitrary high precision.
Keywords
controllability; path planning; control variables; controllable nonholonomic systems; fastly oscillating sinusoidal controls; nonadmissible paths; nonholonomic path following; semiexact path following; Aerospace electronics; Harmonic analysis; Kinematics; Silicon; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location
Kuslin
Print_ISBN
978-1-4673-5510-0
Type
conf
DOI
10.1109/RoMoCo.2013.6614592
Filename
6614592
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