This paper studies open-loop tracking and feedback stabilization for nonholonomic systems. Using the concept of approximate inversion, results for drift-free, left-invariant systems on speciic matrix Lie groups are presented .

In optimal control problems, there exist different kinds of extremals, that is, curves candidates to be solution: abnormal, normal and strictly abnormal. The key point for this classification is how those extremals depend on the cost function. We focus on control systems such as nonholonomic control mechanical systems and the associated kinematic systems as long as they are equivalent. With all...

Areas of Teaching Interest:  Analysis and Design of Control Systems  Discrete Time Control Systems  Intelligent Controls  Robust Nonlinear Controls Areas of Research Interest:  Robust and adaptive control of nonlinear systems  Homogeneous systems theory  Output feedback control  Observer design and fault detection  Intelligent control systems  Control of nonholonomic systems  Underac...

This paper develops the notion of implicit Lagrangian systems and presents some of their basic properties in the context of Dirac structures. This setting includes degenerate Lagrangian systems and systems with both holonomic and nonholonomic constraints, as well as networks of Lagrangian mechanical systems. The definition of implicit Lagrangian systems with a configuration space Q makes use of...

A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method yields admissible input trajectories that drive both the manipulator and the platform to a desired configuration and is based on mapping the nonholonomic constraint to a space where it can be satisfied t...

Motor imagery EEG-based BCI has advantages in the assistance of human control of peripheral devices, such as the mobile robot or wheelchair, because the subject is not exposed to any stimulation and suffers no risk of fatigue. However, the intensive training necessary to recognize the numerous classes of data makes it hard to control these nonholonomic mobile systems accurately and effectively....

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 paper introduces a new method for constructing ex ponentially convergent control laws for n dimensional nonholo nomic systems in power form The methodology is based on the construction of a series of invariant manifolds for the closed loop system under a linear control law A recursive algorithm is presented to derive a feedback controller which drives the system exponentially to the origin...

We prove the existence of hidden symmetries in the general relativity theory defined by exact solutions with generic off–diagonal metrics, nonholonomic (non–integrable) constraints, and deformations of the frame and linear connection structure. A special role in characterization of such spacetimes is played by the corresponding nonholonomic generalizations of Stackel–Killing and Killing–Yano te...

of Nonholonomic Wheeled Mobile Robot Hyun-Sik Shim Jong-Hwan Kim Kwangill Koh Dept. of Elec. Eng. Dept. of Elec. Eng. KAIST KAIST LG Industrial Systems Co., Ltd. Taejoen-shi, 305-701, Korea Taejoen-shi, 305-701, Korea Kyongki-do, 430-080, Korea [email protected] [email protected] [email protected] Abstract A variable structure controller(VSC) for a nonholonomic wheeled mobile...