Global ETD Search
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Showing 1 to 4 of 4 for “"Non-holonomic Systems"”.
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Global Formulation and Control of a Class of Nonholonomic Systems
<p>This thesis study motion of a class of non-holonomic systems using geometric mechanics, that provide us an efficient way to formulate and analyze the dynamics and their temporal evolution on the configuration manifold. The kinematics equations of the system, viewed as a rigid body, are …
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Nonlinear and switched systems: Geometric motion planning, non-monotonic Lyapunov functions and input-to-state stability
… for motion planning and analysis of stability of nonlinear and switched systems have been researched in this work. In terms of control strategy, we propose a novel approach to the long-standing problem of motion planning for non-holonomic systems. The admissible motion is obtained by properly …
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Control of the motion of nonholonomic systems
… with the control, guidance and stabilisation of nonlinear, non¬holonomic systems. It is shown that the kinematics of the system can be separated from the dynamics of the system by using successively two inverse dynamics type of transformations. This leads to a linear decoupled kinematical system, …
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Optimal Control for a Two Player Dynamic Pursuit Evasion Game; The Herding Problem
… path in the Euler Lagrange sense. Then, a non-holonomic realization of the two agents is proposed. In this and we show that the optimal control policy is in the form of a feedback control law that enables the pursuer to achieve the same objective using the shortest path. The second …