Year: 2025
Type: conference-paper
Abstract: Due to underactuation, the states of nonholonomic systems cannot be steered toward any direction of the state space.This note takes unicycles as an example and demonstrates a new idea of control design for nonholonomic systems.More precisely, we apply state transformation technique and external dynamic oscillator, and convert an underactuated nonholonomic unicycle into a fully-actuated and linearizable one.A control law, capable of tracking and stabilization uses, is then constructed.The tradeoff therein is that the tracking/stabilization errors can only be steered into the neighborhood of the origin rather than converging to zero.Numerical simulations are carried out to validate the proposed control scheme.
Authors: Lixia Yan, Yingmin Jia
Institution: Beihang University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W4409913727