Controllability and stabilizability properties of a nonholonomic control system
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1312-1314 vol.3
- https://doi.org/10.1109/cdc.1990.203820
Abstract
Controllability and stabilizability properties are examined for a control system with a nonholonomic constraint. A representative nonholonomic control system example is discussed: the control of a knife edge moving on a plane surface. This example contains the essential features of the general case. It is noted that conditions for small-time local controllability are satisfied. An explicit open loop control is then given which transfers the knife edge to a single equilibrium and an explicit stabilizing feedback control.Keywords
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