A global steering method for nonholonomic systems
نویسندگان
چکیده
منابع مشابه
A Global Steering Method for Nonholonomic Systems
In this paper, we present an iterative steering algorithm for nonholonomic systems (also called driftless control-affine systems) and we prove its global convergence under the sole assumption that the Lie Algebraic Rank Condition (LARC) holds true everywhere. That algorithm is an extension of the one introduced in [21] for regular systems. The first novelty here consists in the explicit algebra...
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ژورنال
عنوان ژورنال: Journal of Differential Equations
سال: 2013
ISSN: 0022-0396
DOI: 10.1016/j.jde.2012.11.012