Brief Steering of a class of nonholonomic systems with drift terms

Authors:
J. -M. Godhavn;A. Balluchi;L. S. Crawford;S. S. Sastry
Affiliations:
Seatex AS, Pirsenteret, 7005 Trondheim, Norway;Parades E.E.I.G., Via San Pantaleo, 66, 00186 Rome, Italy;Optimal Synthesis Inc., 450 San Antonio Road, Suite 46, Palo Alto, CA 94306, USA;Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA 94720, USA
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

In the present paper nonholonomic systems with drift terms are studied. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. We present an approach to open-loop path planning in which the system evolution is studied on manifolds of dimension equal to the number of control inputs. A control procedure is derived and it is applied to the planar diver.