Feedback Control and Nonlinear Controllability of Nonholonomic Systems
In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inp...
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Virginia Tech
2014
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| Online Access: | http://hdl.handle.net/10919/30963 http://scholar.lib.vt.edu/theses/available/etd-01162003-101432/ |