Stabilization of non-admissible curves for a class of nonholonomic systems
Abstract
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood of the reference curve. An explicit control design scheme is proposed for the class of controllable systems whose degree of nonholonomy is equal to 1. It is shown that the trajectories of the closed-loop system converge exponentially to any given neighborhood of the reference curve provided that the solutions are defined in the sense of sampling. This convergence property is also illustrated numerically by several examples of nonholonomic systems of degrees 1 and 2.
Keywords
Cite
@article{arxiv.1904.07052,
title = {Stabilization of non-admissible curves for a class of nonholonomic systems},
author = {Victoria Grushkovskaya and Alexander Zuyev},
journal= {arXiv preprint arXiv:1904.07052},
year = {2019}
}
Comments
This is the author's version of the manuscript accepted for publication in the Proceedings of the 2019 European Control Conference (ECC'19)