Control and stabilization of nonholonomic dynamic systems

摘要: A class of inherently nonlinear control problems has been identified, the features arising directly from physical assumptions about constraints on motion a mechanical system. Models are presented for systems with nonholonomic represented both by differential-algebraic equations and reduced state equations. Control issues this studied number fundamental results derived. Although single equilibrium solution cannot be asymptotically stabilized using continuous feedback, general procedure constructing piecewise analytic feedback which achieves desired result is suggested. >