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Steering Nonholonomic Control Systems Using Sinusoids

  • Richard M. Murray
  • S. Shankar Sastry
Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 192)

Abstract

This paper revises and extends our earlier work in using sinusoids to steer systems with nonholonomic constraints. We show that simple sinusoidal input trajectories are not easily applied to some classes of nonholonomic systems. This leads to the definition of a form of systems which can be steered using our earlier methods. We describe this form in detail and present preliminary efforts towards understanding when systems can be converted into this form.

Keywords

Vector Field Nonholonomic System Chained Form Canonical System Growth Vector 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1993

Authors and Affiliations

  • Richard M. Murray
    • 1
  • S. Shankar Sastry
    • 2
  1. 1.Department of Mechanical EngineeringCalifornia Institute of TechnologyPasadenaUSA
  2. 2.Electronics Research Laboratory, Department of Electrical Engineering and Computer SciencesUniversity of CaliforniaBerkeleyUSA

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