Paper Title:
Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function
  Abstract

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness.

  Info
Periodical
Edited by
Ran Chen
Pages
3992-3996
DOI
10.4028/www.scientific.net/AMM.44-47.3992
Citation
Y. Peng, M. Liu, Z. J. Tang, S. R. Xie, J. Luo, "Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function", Applied Mechanics and Materials, Vols. 44-47, pp. 3992-3996, 2011
Online since
December 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Heng Li, Jin Yong Yu, You An Zhang
Chapter 1: Applied Mechanics Mechanical Engineering
Abstract:With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a...
404
Authors: Xin Jun Ren, Yan Jun Shen
Chapter 8: Nanomaterials and Nanomanufacturing
Abstract:In this paper, we use the definition of control Lyapunov functions to study finite time inverse optimal control for affine nonlinear systems....
1499
Authors: Zhao Yuan Wang, Guo Qing Wu
Chapter 2: Mechanical Engineering
Abstract:The magnetic suspension system is a strong nonlinear, uncertain and open-loop unstable system. All of these factors have increased the...
364