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Planning of nonholonomic systems with Tracking Control Lyapunov Function
| Content Provider | Semantic Scholar |
|---|---|
| Author | Peng, Yan Liu, Mei T. Tang, Zhijie Xie, Shaorong Luo, Jun Yong |
| Copyright Year | 2013 |
| Abstract | A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://ir.sia.cn//bitstream/173321/10444/2/Motion%20planning%20of%20nonholonomic%20systems%20with%20tracking%20control%20Lyapunov%20function.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Actuator Device Component Drug vehicle Executable Lyapunov fractal Motion planning Robot (device) Simulation |
| Content Type | Text |
| Resource Type | Article |
