Control of nonholonomic and underactuated systems

Kevin M Lynch, Anthony M. Bloch, Sergey V. Drakunov, Mahmut Reyhanoglu, Dmitry Zenkov

Research output: Chapter in Book/Report/Conference proceedingChapter


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 languageEnglish (US)
Title of host publicationThe Control Systems Handbook
Subtitle of host publicationControl System Advanced Methods, Second Edition
PublisherCRC Press
Number of pages36
ISBN (Electronic)9781420073652
ISBN (Print)9781420073645
StatePublished - Jan 1 2010

ASJC Scopus subject areas

  • Engineering(all)


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