Murray: htdb2wiki: creating page for 1994b_wal+95-tac.html

2016-05-15T06:20:52Z

htdb2wiki: creating page for 1994b_wal+95-tac.html

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{{HTDB paper
| authors = G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond
| title = Stabilization of Trajectories for Systems with Nonholonomic Constraints
| source = <i>IEEE T. Automatic Control</i>, 39: (1) 216-222
| year = 1994
| type =
Preprint
| funding =
| url = http://www.cds.caltech.edu/~murray/preprints/wal+94-tac.pdf
| abstract =
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static state feedback. In this paper we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the paper gives an explicit control law which will locally exponentially stabilize the system to the desired trajectory. The theory is applied to several examples, including a car-like robot.

| flags =
| tag = wal+95-tac
| id = 1994b
}}

Stabilization of Trajectories for Systems with Nonholonomic Constraints - Revision history

Murray: htdb2wiki: creating page for 1994b_wal+95-tac.html