A Global Steering Method for Driftless Control-Affine Systems
نویسندگان
چکیده
In this paper, we extend the globally convergent steering algorithm introduced in [13] for regular nonholonomic systems to general systems with singularities. This extension is based on the explicit construction of a lifted system which is regular. We also propose an exact motion planning method for nilpotent systems, which makes use of sinusoidal control laws and generalizes the algorithm presented in [19] for steering chained-form systems. It gives rise to smooth trajectories, leading to possible dynamical extension.
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