In this paper we steer wheeled nonholonomic systems that can be represented in a so called chained form Su cient conditions for converting a multiple input system with nonholonomic velocity constraints into a multiple chain single generator chained form via state feedback and a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems ...

This paper extends the Navigation Function methodology to the case of 3D nonholonomic vehicles, both in single agent and multi-agent problems. The kinematic, nonholonomic, 3-dimensional model considered is chosen to resemble the motion of an aircraft by preventing any movement along the lateral or perpendicular axis, as well as preventing high yaw rotation rates. The discontinuous feedback cont...

4th IFAC Symposium on Robot Control '94 Capri, Italy, September 19{21, 1994 2{MODULE NONHOLONOMIC VARIABLE GEOMETRY TRUSS ASSEMBLY: MOTION CONTROL P. S. KRISHNAPRASAD and D. P. TSAKIRIS University of Maryland at College Park, Institute for Systems Research & Department of Electrical Engineering, College Park, MD 20742, USA Abstract: The nonholonomic motion planning problem is considered for a n...

In this paper, a novel path tracking control method is proposed for a nonholonomic mobile robot. The proposed controller is based on a bang-bang control technique, the concept of landing curve, and a biologically inspired neural dynamics model that is derived from Hodgkin and Huxley’s (1952) membrane equation. The acceleration constraints and the nonholonomic kinematics constraints are full res...

The motion planning problem of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the rotational motion of the cat subjects to nonholonomic constraints. The equation of dynamics of a free-falling cat is obtained by using the model of two symmet...

This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an i...

A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator is established in consi...

This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee that the dynamics of the system can be obtained as a suitable...

Abstract: This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and θ to s and θ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to des...

Robust hybrid controller design is presented in this paper for motion/force control of mechanical systems subjected to a set of holonomic or classical nonholonomic constraints and in the presence of uncertainties about plant parameters. A uni ed and systematic procedure is employed to derive the controllers for both holonomic and nonholonomic constrained mechanical systems, respectively. The pr...