Related papers: A Global Steering Method for Nonholonomic Systems
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…
Nonholonomic constraints restrict feasible velocities without reducing configuration-space dimension, which makes collision-free geometric paths generally non-executable for car-like robots. Ackermann steering further imposes curvature…
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of…
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in…
This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by…
The fundamental problem of stabilizing a general nonaffine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this article. A novel integral sliding-mode parallel control (ISMPC) approach is…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This paper focuses on the system identification of an important class of nonlinear systems: linearly parameterized nonlinear systems, which enjoys wide applications in robotics and other mechanical systems. We consider two system…
Stable concurrent learning and control of dynamical systems is the subject of adaptive control. Despite being an established field with many practical applications and a rich theory, much of the development in adaptive control for nonlinear…
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control…
We prove an almost sure invariance principle that is valid for general classes of nonuniformly expanding and nonuniformly hyperbolic dynamical systems. Discrete time systems and flows are covered by this result. In particular, the result…
This paper presents an adaptive tracking model predictive control (MPC) scheme to control unknown nonlinear systems based on an adaptively estimated linear model. The model is determined based on linear system identification using a moving…
The exponential ordering is exploited in the context of non-auto\-no\-mous delay systems, inducing monotone skew-product semiflows under less restrictive conditions than usual. Some dynamical concepts linked to the order, such as…
A wide variety of different (fixed-point) iterative methods for the solution of nonlinear equations exists. In this work we will revisit a unified iteration scheme in Hilbert spaces from our previous work that covers some prominent…
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Lie logarithm of the navigation state estimation error…
We prove that stochastic gradient descent efficiently converges to the global optimizer of the maximum likelihood objective of an unknown linear time-invariant dynamical system from a sequence of noisy observations generated by the system.…