Book Review: Control of nonholonomic systems: from sub-Riemannian geometry to motion planning

Control of Nonholonomic Systems and Sub-Riemannian Geometry

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Nonholonomic Systems and Sub-riemannian Geometry

This paper presents several classical mechanical systems with nonholonomic constraints from the point of view of sub-Riemannian geometry. For those systems that satisfy the bracket generating condition the system can move continuously between any two given states. However, the paper provides a counterexample to show that the bracket generating condition is not also a sufficient condition for co...

Motion Planning of nonholonomic systems with Tracking Control Lyapunov Function

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...

Sub - Riemannian geometry :

Take an n-dimensional manifold M . Endow it with a distribution, by which I mean a smooth linear subbundle D ⊂ TM of its tangent bundle TM . So, for x ∈ M , we have a k-plane Dx ⊂ TxM , and by letting x vary we obtain a smoothly varying family of k-planes on M . Put a smoothly varying family g of inner products on each k-plane. The data (M,D, g) is, by definition, a sub-Riemannian geometry. Tak...

Sub-riemannian Geometry