Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers
Most of drift-less nonholonomic systems cannot be exactly converted to an nonholonomic chained form, a wealth of design tools developed for the control of nonholonomic chained form are thus not directly applicable to such systems. Nevertheless, there exists a class of systems that may be locally app...
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| Format: | Article |
| Language: | English |
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Hindawi Limited
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/697309 |