Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 48 for “"nonholonomic"”.
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Nonholonomic Feedback Control Among Moving Obstacles
… controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground …
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Dynamic Instabilities in Structures with Nonholonomic Constraints
… dependent restrictions, which are known as nonholonomic constraints. These constraints are applied to elastic structures, and their nonlinear dynamics are analyzed within the framework of bifurcation and stability theory. Initially, the stability of Ziegler's double pendulum is analyzed to …
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Control of the motion of nonholonomic systems
This dissertation deals 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 …
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Dynamics and Control of Higher-order Nonholonomic Systems
… is established for the control of higher-order nonholonomic systems, defined as systems that satisfy higher-order nonintegrable constraints. A model for such systems is developed in terms of differential-algebraic equations defined on a higher-order tangent bundle. A number of control-theoretic …
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Feedback Control and Nonlinear Controllability of Nonholonomic Systems
… we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than …
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Global Formulation and Control of a Class of Nonholonomic Systems
… we have considered three different examples with nonholonomic constraint i-e knife edge or pizza cutter, a circular disk rolling without slipping, and rolling sphere. For each example, the kinematics equations of the system are defined without the use of local coordinates, such that the model is …
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Distributed, adaptive deployment for nonholonomic mobile sensor networks : theory and experiments
… of mobile sensors. This new approach assumes nonholonomic sensors rather than the usual holonomic sensors found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are used in order to prove the stability of the controller applied over a …
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Continuous and discrete aspects of Lagrangian field theories with nonholonomic constraints
… field theories, in particular those with nonholonomic constraints. After some introductory chapters dealing with the geometric structures inherent in field theories and the discretization of field theories, the first part of the thesis is concerned with discrete field theories taking …
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Motion Planning and Robust Control for Nonholonomic Mobile Robots under Uncertainties
… the problem of motion planning and control for nonholonomic mobile robots, particularly wheeled and tracked mobile robots, working in extreme environments, for example, desert, forest, and mine. In such environments, the mobile robots are highly subject to external disturbances (e.g., slippery …
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Nonholonomic Control Utilizing Kinematic Constraints of Differential and Ackermann Steering Based Platforms
A nonholonomic tracking controller is designed and adapted to work with both differential steering and Ackermann steering based platforms whose dynamics are represented using a unicycle model. The goal of this work is to find a relatively simple approach that offers a practical alternative to bulky …
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Hybrid Switched System Visual Servo Control
Furthermore, nonholonomic systems present a control task that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a …
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Theory and experimental investigation of tracking control of wheeled mobile robots
… have been studied for various classes of nonholonomic wheeled mobile robot (WMR). The relative difficulty of the tracking control problem depends not only on nature structural properties of the nonholonomic WMR system but also on the tracking control objective. In this thesis several …
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Ensemble control of robotic systems
… for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded constant. The basic idea is to maintain the set of all possible configurations and to select inputs that …
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Safe Control and Coordination of Multiple Autonomous Vehicles
… of autonomous vehicles, specially those with nonholonomic dynamic models. We consider in particular the problem of safe trajectory tracking for a group of interacting autonomous nonholonomic vehicles. In addressing this problem, new model predictive control formulations, new model predictive …
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Nonlinear Control for Dual Quaternion Systems
… into the Brockett's canonical form, which is nonholonomic. It is also shown that the kinematics for quaternion systems can be represented by a nonholonomic integrator. Then, a discontinuous controller designed for nonholonomic systems is applied. Examples of various applications for dual …
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Interaction and Configuration Control for Networks of Dynamical Systems
… control and coordinated tracking for nonholonomic and Lagrangian multi-agent systems; (2) we introduce systems with switching equilibria, develop control strategies and apply them to the study of interaction between subsystems in a dynamical network; and, (3) finally we study the …
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Model predictive control of wheeled mobile robots
The control of nonholonomic wheeled mobile robots (WMRs) has gained a lot of attention in the field of robotics over the past few decades as WMRs provide an increased range of motion resulting in a larger workspace. This research focuses on the application of Model Predictive Control (MPC) for …
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Vision based robot navigation
… set of actions that account for the robot's nonholonomic constraints. The intent of this project is to create a system that allows a robot to be able to explore and to navigate in a wide variety of environments in a way that facilitates goal-oriented tasks.
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Smooth Feedback Planning
… feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector …
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