Non-holonomic control systems: from steering to stabilization with sinusoids
- 1 October 1995
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 62 (4), 849-870
- https://doi.org/10.1080/00207179508921572
Abstract
We present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of non-holonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.Keywords
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