Control of nonholonomic systems with extended base space dynamics
- 1 January 1995
- journal article
- research article
- Published by Wiley in International Journal of Robust and Nonlinear Control
- Vol. 5 (4) , 325-330
- https://doi.org/10.1002/rnc.4590050408
Abstract
This paper extends certain results in Reference 1 to a more general class of nonholonomic systems with extended base space dynamics. This extension is important in applications for which control actuator dynamics are significant. These nonlinear control systems are referred to as nonholonomic control systems owing to certain nonintegrability assumptions which are made. The class of systems considered in this paper are characterized by general nonlinear base space dynamics that are input‐output decouplable. Controllability results for this class of nonholonomic control systems are presented.Keywords
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