Control systems with nonholonomic motion constraints have been extensively studied in the recent years, particularly in the context of robotics. Robotic manipulators, especially mobile ones, are described by complicated models about which there is likely to be significant uncertainty [4]. This is just one source of motivation for studying the challenging problem of controlling nonholonomic mech...

Dear Editor, This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify design controller, original model is transformed into a nonlinear cascade system minimum phase. Then, further processed equivalent reduced-order nonholonomic-like system. A discontinuous method proposed through combination state-scaling and state-depe...

Employing a suitable nonlinear Lagrange functional, we derive generalized Hamilton-Jacobi equations for dynamical systems subject to linear velocity constraints. As long as a solution of the generalized Hamilton-Jacobi equation exists, the action is actually minimized (not just extremized). PACS numbers: 45.20.Jj, 45.10.Db Running Title: Nonholonomic dynamics 1

This paper presents a novel scheme for visual servoing of a nonholonomic mobile robot equipped with a monocular camera in consideration of field-of-view (FOV) constraints. In order to loosen the FOV constraints, the system states are expressed by the homography between the current frame and the key frame so that the target is not necessarily to be always visible in the control process. A switch...

Independent component analysis or blind source separation extracts independent signals from their linear mixtures without assuming prior knowledge of their mixing coefficients. It is known that the independent signals in the observed mixtures can be successfully extracted except for their order and scales. In order to resolve the indeterminacy of scales, most learning algorithms impose some con...

Sub-Riemannian geometry is the geometry of spaces with nonholonomic constraints. This paper presents an informal survey of some topics in this area, starting with the construction of geodesic curves and ending with a recent definition of curvature. Bibliography: 28 titles.

A new hybrid controller has been applied for feedback stabilization of a Pendubot, whose dynamics show second order nonholonomic properties. Experimental results for di erent test cases show that hybrid control outperforms the existing control algorithm. This successful implementation provides a novel alternative for the control of under-actuated mechanical systems. Many such systems are subjec...

We study the dynamics of the generalized Euler tops on various groups subject to left-invariant nonholonomic constraints. We blend together reconstruction and quasi-periodic Floquet theories to analyze the qualitative dynamics and discuss differences with the free rigid body motion. We also discuss some examples of particular interest.