Closed-Form Trajectories of the Unicycle
Abstract
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type robot, stability is guaranteed with the salient property that the structure of the controller allows to solve in closed-form the trajectories of the vehicle. While the proposed controller only ensures stability (not asymptotic stability) the obtained closed-form solutions will show a path to obtain in closed form the solutions for the general control problem of the unicycle. Some conclusions and future directions for research are also depicted.
Keywords
Cite
@article{arxiv.0906.1588,
title = {Closed-Form Trajectories of the Unicycle},
author = {Andres Garcia and Osvaldo Agamennoni and Jose Figueroa},
journal= {arXiv preprint arXiv:0906.1588},
year = {2009}
}
Comments
This is part of a paper accepted for publication in a local conference (JAR08) in Argentina