In this chapter, we study motion planning and control for systems subject to nonholonomic and underactuation constraints. All such systems can be written in the form where f (x) is a drift vector field, gi(x) are linearly independent control vector fields, and u = [u1,…, um]T is the control. Unless otherwise specified, we work in local coordinates and treat the state as x ε M = Rp.
|Original language||English (US)|
|Title of host publication||The Control Systems Handbook|
|Subtitle of host publication||Control System Advanced Methods, Second Edition|
|Number of pages||36|
|State||Published - Jan 1 2010|
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