In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, characterized as mechanical systems with nonholonomic constraints and symmetries. Recent research in geometric mechanics has led to a single, simplified framework that describes this class of systems, which includes examples such as wheeled mobile robots; undulatory robotic and biological locomotio...

This paper studies open-loop tracking and feedback stabilization for nonholonomic systems. Using the concept of approximate inversion, results for drift-free, left-invariant systems on speciic matrix Lie groups are presented .

(ABSTRACT) In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motio...

We consider kinematic chains evolving on a nite{ dimensional Lie group G under nonholonomic constraints, where snake{like global motion is induced by shape variations of the system. In particular, we consider the case when the evolution of the system is restricted to a subspace h of the corresponding Lie algebra G; where h is not a subalgebra of G and it generates the whole algebra under Lie br...

The stabilization to a desired pose of a nonholonomic mobile robot, based on visual data from a hand-eye system mounted on it, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. In this paper, we investigate the use of visual servoing techniques for their control. After brie y presenting the relevant visual servoing framewor...

This paper addresses the feedback control design for a class of nonholonomic systems which are subject to inequality stateconstraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions forselecting viable controls for a nonholonomic system are given, so that system trajectories starting in K always remain inK. Furthermore, a c...

This paper presents initial results on the control of mechanical systems for which group symmetries exist (i.e., the dynamics are invariant under the action of a Lie group) and are not fully annihilated by the addition of nonholonomic constraints. These types of systems are characterized by the persistence of momentum-like drift terms which are not directly controllable via the inputs to the sy...

NONLINEAR CONTROL APPLICATIONS FOR NONHOLONOMIC AUTONOMOUS SYSTEMS by Lucas C. McNinch Villanova University, 2009 THESIS ADVISORS: Kenneth R. Muske, Ph.D. and Hashem Ashrafiuon, Ph.D. This thesis presents several nonlinear control applications for nonholonomic autonomous wheeled mobile robot and unmanned surface vessel (USV) systems. First, an overview of nonlinear control and nonholonomic syst...