Stabilization of non-holonomic vehicles under kinematic constraints

George J. Pappas, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


Equivalence between different kinematic models of non-holonomic vehicles is established. Non-holonomic vehicles are shown to be kinematically equivalent to unicycles. A generalized unicycle model is used for stabilization purposes. Globally stabilizing control laws under the presence of kinematic control constraints are derived. The control laws are based on the invariant manifold technique, a control strategy where non-holonomic systems are steered onto manifolds of global and relative local-local controllability. Convergence of the proposed closed-loop strategies are verified by simulations.

Original languageEnglish (US)
Pages (from-to)933-947
Number of pages15
JournalInternational Journal of Control
Issue number4
StatePublished - Apr 1995

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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