Modeling and feedback control of nonholonomic mobile vehicles
- 1 January 1992
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 33, 2680-2685
- https://doi.org/10.1109/cdc.1992.371331
Abstract
A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique is introduced for steering a nonholonomic mobile vehicle to an invariant manifold which is relatively locally-locally controllable. A closed-loop control strategy based on the invariant manifold technique is formulateKeywords
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