Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function
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.
Y. Peng et al., "Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function", Applied Mechanics and Materials, Vols. 44-47, pp. 3992-3996, 2011