Lyapunov first method for nonholonomic systems with circulatory forces
نویسندگان
چکیده
منابع مشابه
Motion Planning of nonholonomic systems with Tracking Control Lyapunov Function
A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...
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ژورنال
عنوان ژورنال: Mathematical and Computer Modelling
سال: 2007
ISSN: 0895-7177
DOI: 10.1016/j.mcm.2006.09.015