Publications about 'non-holonomic systems'
Articles in journal or book chapters
  1. E.D. Sontag. Control of systems without drift via generic loops. IEEE Trans. Automat. Control, 40(7):1210-1219, 1995. [PDF] Keyword(s): stabilization, non-holonomic systems, path-planning, systems without drift, nonlinear control, controllability, real-analytic functions.
    This paper proposes a simple numerical technique for the steering of arbitrary analytic systems with no drift. It is based on the generation of "nonsingular loops" which allow linearized controllability along suitable trajetories. Once such loops are available, it is possible to employ standard Newton or steepest descent methods, as classically done in numerical control. The theoretical justification of the approach relies on recent results establishing the genericity of nonsingular controls, as well as a simple convergence lemma.



This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders.

Last modified: Sat Dec 2 22:29:20 2023
Author: sontag.

This document was translated from BibTEX by bibtex2html