Feedback Control and Nonlinear Controllability of Nonholonomic Systems

In this thesis 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 the degrees of freedom. The main focus of the thesis is on the study of motion planning and design of the feedback control laws for an autonomous underwater vehicle: a nonholonomic system. The nonlinear controllability issues for the system are also studied. For the design of feedback controllers, the system is transformed into chained and power forms. The methods of transforming a nonholonomic system into these forms are discussed. The work presented in this thesis is a step towards the initial study concerning the applicability of kinematic-based control on underwater vehicles.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2003

Author dc:creator

• Wadoo, Sabiha Amin

Chair dc:contributor.committeechair

• Kachroo, Pushkin

Committee members dc:contributor.committeemember

• Abbott, A. Lynn
• Stilwell, Daniel J.

• controllability
• point stabilization
• nonholonomic
• trajectory tracking
• autonomous vehicle
• path following.

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-01162003-101432

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/30963