This paper presents procedural guidelines for the construction of discontinuous state feedback controllers for driftless, kinematic nonholonomic systems, with extensions to a class of dynamic nonholonomic systems with drift. Given an n-dimensional kinematic nonholonomic system subject to κ Pfaffian constraints, system states are partitioned into “leafwise” and “transverse,” based on the structure of the Pfaffian constraint matrix. A reference vector field F is defined as a function of the leafwise states only in a way that it is nonsingular everywhere except for a submanifold containing the origin. The induced decomposition of the configuration space, together with requiring the system vector field to be aligned with F, suggests choices for Lyapunov-like functions. The proposed approach recasts the original nonholonomic control problem as an output regulation problem, which although nontrivial, may admit solutions based on standard tools.
Control Design for a Class of Nonholonomic Systems Via Reference Vector Fields and Output Regulation
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 4, 2013; final manuscript received March 31, 2015; published online May 26, 2015. Assoc. Editor: Evangelos Papadopoulos.
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Panagou, D., Tanner, H. G., and Kyriakopoulos, K. J. (August 1, 2015). "Control Design for a Class of Nonholonomic Systems Via Reference Vector Fields and Output Regulation." ASME. J. Dyn. Sys., Meas., Control. August 2015; 137(8): 081011. https://doi.org/10.1115/1.4030335
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