We present a strategy for coupled steering and motion generation applicable to a class of single-input planar robotic vehicles. We demonstrate this strategy through simulations of two different vehicles under closed-loop control, the first a novel variation of the Chaplygin sleigh and the second a fishlike swimmer in an ideal fluid. The dynamics of the former are influenced by a nonholonomic constraint and the dynamics of the latter by a hydrodynamic force associated with vortex shedding. The juxta-position of these two systems highlights a link between nonholonomic mechanics and hydrodynamics explored in a prior paper.
Volume Subject Area:
Control Theory and Applications
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