This papers studies discrete nonholonomic mechanical systems whose configuration space is a Lie group G Assuming that the discrete Lagrangian and constraints are left-invariant, the discrete Euler–Lagrange equations are reduced to the discrete Euler–Poincaré–Suslov equations. The dynamics associated with the discrete Euler–Poincaré–Suslov equations is shown to evolve on a subvariety of the Lie ...

Existing methods for nonholonomic motion planning can only be applied to exactly nilpotentizable or flat systems. For nonholonomic systems that do not fall into the above classes, we conjecture that globally defined nilpotent approximations will allow the synthesis of efficient steering and stabilization strategies. In this paper, a car towing two off-hooked trailers is considered as a case stu...

Non-holonomic systems may appear in several forms, including combinations between holonomic and nonholonomic constraints for vehicle formations. Examples of the latter are non-holonomic formation constraints with holonomic vehicles or holonomic formation constraints with non-holonomic vehicles. In this paper the problem of non-holonomic systems with holonomic or non-holonomic constraints is add...

This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...