Steering of a class of nonholonomic systems with drift terms
نویسندگان
چکیده
In the present paper nonholonomic systems with drift terms are studied. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. We present an approach to open-loop path planning in which the system evolution is studied on manifolds of dimension equal to the number of control inputs. A control procedure is derived and it is applied to the planar diver. 1999 Elsevier Science Ltd. All rights reserved.
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ورودعنوان ژورنال:
- Automatica
دوره 35 شماره
صفحات -
تاریخ انتشار 1999