Stabilization of trajectories for systems with nonholonomic constraints

Stabilization of trajectories for systems with nonholonomic constraints

A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see [2]) that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an...

Exponential stabilization for nonlinear systems with applications to nonholonomic systems

The paper proposes a general framework to study the exponential stabilization problem for a class of nonlinear systems. By using the σ-processing, the exponential stabilization problem can be solved provided that all solutions of an augmented system are uniformly globally bounded. Based on this result, a simple and general stability criterion is presented. Two well-known nonholonomic systems ar...

Learning Optimal Trajectories for Nonholonomic Systems

Many advanced robotic systems are subject to nonholonomic constraints, e.g., wheeled mobile robots, space manipulators and multifingered robot hands. Steering these mechanisms between configurations in the presence of perturbations is a difficult problem. In fact, the divide et impera strategy (first plan a trajectory, then track it by feedback) has a fundamental drawback in this case: due to t...

Stabilization of Trajectories for Systems

A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see 2]) that such systems cannot be stabilized to a point using smooth-static state feedback. In this paper we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajec-tory, the paper gives a...

Stabilization Problem for Nonholonomic Control Systems