Trajectory planning and open loop control for nonholonomic control systems

Z. Retchkiman, F. Khorrami, J. Rastegar

Research output: Contribution to conferencePaper

Abstract

Tracking and/or point to point motion for Nonholonomic Controllable nonlinear systems is considered in this paper. These nonlinear systems have drift free dynamics with fewer controls than states. In particular, we utilize the Trajectory Pattern Method in order to attain the necessary open-loop control signals for tracking and/or point to point motion for nonholonomic systems of any finite degree. The Trajectory Pattern Method is applied to the unicycle and front-wheel car motion planning problems. An adaptive scheme for uncertain nonholonomic systems is discussed. Finally, the time optimal control problem for nonholonomic systems is addressed.

Original languageEnglish (US)
Pages223-228
Number of pages6
StatePublished - 1994
EventProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) - Minneapolis, MN, USA
Duration: Sep 11 1994Sep 14 1994

Other

OtherProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3)
CityMinneapolis, MN, USA
Period9/11/949/14/94

ASJC Scopus subject areas

  • Engineering(all)

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    Retchkiman, Z., Khorrami, F., & Rastegar, J. (1994). Trajectory planning and open loop control for nonholonomic control systems. 223-228. Paper presented at Proceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3), Minneapolis, MN, USA, .