Trajectory planning and open loop control for nonholonomic control systems

Z. Retchkiman, F. Khorrami, J. Rastegar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publication23rd Biennial Mechanisms Conference
Subtitle of host publicationRobotics - Kinematics, Dynamics and Controls
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages223-228
Number of pages6
ISBN (Electronic)9780791812860
DOIs
StatePublished - 1994
EventASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium - Minneapolis, United States
Duration: Sep 11 1994Sep 14 1994

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
VolumePart F167892-4

Conference

ConferenceASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium
CountryUnited States
CityMinneapolis
Period9/11/949/14/94

Keywords

  • Controllability
  • Inversion
  • Nonholonomic systems
  • Robust
  • Trajectory pattern

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

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