Trajectory planning and open loop control for nonholonomic control systems

Z. Retchkiman, Farshad Khorrami, J. Rastegar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Tracking and/or point to point motion for Nonholonomic Controllable nonlinear systems is considered in this paper. These nonlinear systems have drift free dynamics with fewer controls than states. In particular, we utilize the Trajectory Pattern Method in order to attain the necessary open-loop control signals for tracking and/or point to point motion for nonholonomic systems of any finite degree. The Trajectory Pattern Method is applied to the unicycle and front-wheel car motion planning problems. An adaptive scheme for uncertain nonholonomic systems is discussed. Finally, the time optimal control problem for nonholonomic systems is addressed.

Original languageEnglish (US)
Title of host publication23rd Biennial Mechanisms Conference
PublisherASME
Pages223-228
Number of pages6
Volume72
Editionpt 3
StatePublished - 1994
EventProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) - Minneapolis, MN, USA
Duration: Sep 11 1994Sep 14 1994

Other

OtherProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3)
CityMinneapolis, MN, USA
Period9/11/949/14/94

Fingerprint

Trajectories
Control systems
Planning
Nonlinear systems
Uncertain systems
Motion planning
Wheels
Railroad cars

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Retchkiman, Z., Khorrami, F., & Rastegar, J. (1994). Trajectory planning and open loop control for nonholonomic control systems. In 23rd Biennial Mechanisms Conference (pt 3 ed., Vol. 72, pp. 223-228). ASME.

Trajectory planning and open loop control for nonholonomic control systems. / Retchkiman, Z.; Khorrami, Farshad; Rastegar, J.

23rd Biennial Mechanisms Conference. Vol. 72 pt 3. ed. ASME, 1994. p. 223-228.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Retchkiman, Z, Khorrami, F & Rastegar, J 1994, Trajectory planning and open loop control for nonholonomic control systems. in 23rd Biennial Mechanisms Conference. pt 3 edn, vol. 72, ASME, pp. 223-228, Proceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3), Minneapolis, MN, USA, 9/11/94.
Retchkiman Z, Khorrami F, Rastegar J. Trajectory planning and open loop control for nonholonomic control systems. In 23rd Biennial Mechanisms Conference. pt 3 ed. Vol. 72. ASME. 1994. p. 223-228
Retchkiman, Z. ; Khorrami, Farshad ; Rastegar, J. / Trajectory planning and open loop control for nonholonomic control systems. 23rd Biennial Mechanisms Conference. Vol. 72 pt 3. ed. ASME, 1994. pp. 223-228
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