4th IFAC Symposium on Robot Control '94 Capri, Italy, September 19{21, 1994 2{MODULE NONHOLONOMIC VARIABLE GEOMETRY TRUSS ASSEMBLY: MOTION CONTROL P. S. KRISHNAPRASAD and D. P. TSAKIRIS University of Maryland at College Park, Institute for Systems Research & Department of Electrical Engineering, College Park, MD 20742, USA Abstract: The nonholonomic motion planning problem is considered for a n...

This paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems based on generalized canonical transformations. A general framework of tracking control utilizing the passivity property is proposed. Firstly, it is shown how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. Secondly, a pra...

We address the problem of characterisation null-forms conic 3-dimensional systems, that is, control-affine systems whose field admissible velocities forms a (without parameters) in tangent space. Those have been previously identified as simplest control under nonholonomic constraint or zero curvature. In this work, we propose direct among all by studying Lie algebra infinitesimal symmetries. Na...

In this paper, we generalize the Boltzmann–Hamel equations for nonholonomic mechanics to a form suited for the kinematic or dynamic optimal control of mechanical systems subject to nonholonomic constraints. In solving these equations one is able to eliminate the controls and compute the optimal trajectory from a set of coupled first-order differential equations with boundary values. By using an...

Abstract—We describe a framework for controlling and coordinating a group of nonholonomic mobile robots for cooperative tasks ranging from scouting and reconnaissance to distributed manipulation. The framework allows us to build complex systems from simple controllers and estimators. This modular approach is attractive because of the potential for reusability. In addition, we show that our appr...

We present a general framework for the optimal control of driftless nonlinear systems defined by means of distributions of smooth vector fields that generate nilpotent Lie algebras. A smooth varying inner product on the planes of the distribution, yields the energy functional that allows to approach the optimal control problem as a sub-Riemannian geodesic problem. This class of systems is relev...

Relativistic particle subjected to a general four-force is considered as a nonholonomic system. The nonholonomic constraint in fourdimensional space–time represents the relativistic invariance by the equation for four-velocity ulu + c = 0, where c is the speed of light in vacuum. In the general case, four-forces are non-potential, and the relativistic particle is a non-Hamiltonian system in fou...

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...

Many important engineering systems accomplish their purpose using cyclic processes whose characteristics are under feedback control. Examples involving thermodynamic cycles and electromechanical energy conversion processes are particularly noteworthy. Likewise, cyclic processes are prevalent in nature and the idea of a pattern generator is widely used to rationalize mechanisms used for orchestr...

This article gives a brief overview of the basic notions of switched fuzzy systems, their model construction and stability analysis, followed by the proposed concepts for building simulation algorithms for this type of systems. Using these concepts we have shown the whole process of modelling, stability analysis and design of stabilizing switching fuzzy logic controllers for the hovercraftvehic...