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Control of nonholonomic systems with extended base space dynamics
Author(s) -
Reyhanoglu Mahmut,
Bloch Anthony M.,
Harris Mcclamroch N.
Publication year - 1995
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4590050408
Subject(s) - nonholonomic system , controllability , control theory (sociology) , base (topology) , nonlinear system , actuator , class (philosophy) , computer science , space (punctuation) , mathematics , extension (predicate logic) , system dynamics , control (management) , mathematical analysis , physics , robot , artificial intelligence , mobile robot , operating system , quantum mechanics , programming language
This paper extends certain results in Reference 1 to a more general class of nonholonomic systems with extended base space dynamics. This extension is important in applications for which control actuator dynamics are significant. These nonlinear control systems are referred to as nonholonomic control systems owing to certain nonintegrability assumptions which are made. The class of systems considered in this paper are characterized by general nonlinear base space dynamics that are input‐output decouplable. Controllability results for this class of nonholonomic control systems are presented.