This paper is focused on the intelligent control of vehicles with nonholonomic constraints. A new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecisions from the sensorial system and taking into account nonholonomic constraints of the vehicle. This fuzzy perception is used, both in the design of each reactive behavior and solving th...

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

This is the second paper in a series of works devoted to nonholonomic Ricci flows. By imposing non–integrable (nonholonomic) constraints on the Ricci flows of Riemannian metrics we can model mutual transforms of generalized Finsler–Lagrange and Riemann geometries. We verify some assertions made in the first partner paper and develop a formal scheme in which the geometric constructions with Ricc...

Relativistic particle subjected to a general four-force is considered as a nonholonomic system. The nonholonomic constraint in fourdimensional space–time represents the relativistic invariance by the equation for four-velocity ulu + c = 0, where c is the speed of light in vacuum. In the general case, four-forces are non-potential, and the relativistic particle is a non-Hamiltonian system in fou...

This work studies the interaction of the nonholonomic and visibility constraints of a robot to maintain visibility of a landmark. The robot is a differential drive system (nonholonomic robot) and has a sensor with limited capabilities (limited field of view). In this research, we want to determine whether or not a robot can always maintain visibility of a landmark during the execution of a path...

This paper presents a general, nonholonomic dextrous manipulation and finger gaiting technique for robotic grasping problems. This method is general in that it is independent of the geometry of the grasped object and independent of the morphology of the mainipulating hand. This method is based upon a nonholonomic motion planning method for smooth system that has been extended to a certain class...

In this paper, we study the underlying geometry in the classical Hamilton-Jacobi theory. The proposed formalism is also valid for nonholonomic systems. We first introduce the essential geometric ingredients: a vector bundle, a linear almost Poisson structure and a Hamiltonian function, both on the dual bundle (a Hamiltonian system). From them, it is possible to formulate the Hamilton-Jacobi the...

In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a reduced momentum space. Here, we revisit the modelling of these systems for the purpose of identifying the role that physical damping plays. Using this represe...

This article gives a brief overview of the basic notions of switched fuzzy systems, their model construction and stability analysis, followed by the proposed concepts for building simulation algorithms for this type of systems. Using these concepts we have shown the whole process of modelling, stability analysis and design of stabilizing switching fuzzy logic controllers for the hovercraftvehic...

A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by nonholonomic equations that are inherently nonlinear in velocity. An expression in vector form is obtained for each force; a direction is determined, together with the p...