Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function

Yan Peng; Mei Liu; Zhi Jie Tang; Shao Rong Xie; Jun Luo

doi:10.4028/www.scientific.net/AMM.44-47.3992

Paper Titles

The Research of PWM Controlling Capacitance SVC Based on RB-IGBT
p.3970

Automatic Fuzzy Based System for Carbon Estimation in a Basic Oxygen Furnace
p.3976

Reading and Controlling on UG Files by OpenGL Based on Object-Oriented Methods
p.3981

A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator: Theory and Simulation Results
p.3987

Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function
p.3992

Barriers of SCM in SMEs
p.3997

Research on Flatness Error Measurement of Revolving Body End-Face
p.4002

Hypothetical Analysis on Basis of View
p.4007

A Novel Public Encryption and Key Agreement Based on Permutation Rational Function
p.4012

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 44-47Motion Planning of Nonholonomic Systems with...

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.

You might also be interested in these eBooks

Frontiers of Manufacturing and Design Science

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 44-47)

Pages:

3992-3996

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.44-47.3992

Citation:

Cite this paper

Online since:

December 2010

Authors:

Yan Peng, Mei Liu, Zhi Jie Tang, Shao Rong Xie, Jun Luo

Keywords:

Motion Planning, Nonholonomic Constraint, Tracking Control Lyapunov Function (TCLF)

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Murray.R. M, Li.Z. X and Sastry.S. S: A Mathematical Introduction to Robotic Manipulation. By CRC Press, (1994).

Google Scholar

[2] Y. Nakamura: An Overview of Nonholonomic Mechanical Systems Research. Journal of the Society of Instrument and Control Engineers, 1997, 36(6): pp.384-389.

Google Scholar

[3] Lafferriere. G and Sussmann.H. J: Motion planning for controllablesystems without drift. Proceedings of IEEE International Conference on Robotics and Automation, Sacramento, California, April 1991: pp.1148-1153.

DOI: 10.1109/robot.1991.131763

Google Scholar

[4] Sussmann.H. J and Liu. W: Limits of highly oscillatory controls and the approximation of general paths by admissible trajectories. Proceedings of IEEE 30th Conference on Decision and Control, Brighton, England, December 1991: pp.437-442.

DOI: 10.1109/cdc.1991.261338

Google Scholar

[5] Do, K.D., Z.P. Jiang, and J. Pan, Underactuated ship global tracking under relaxed conditions. IEEE Transactions on Automatic Control, 2002. 47(9): pp.1529-1536.

DOI: 10.1109/tac.2002.802755

Google Scholar