Feedback linearization and stabilization of second-order non-holonomic chained systems
โ Scribed by Ge, S. S.; Sun, Zhendong; Lee, T. H.; Spong, Mark W.
- Book ID
- 118141785
- Publisher
- Taylor and Francis Group
- Year
- 2001
- Tongue
- English
- Weight
- 294 KB
- Volume
- 74
- Category
- Article
- ISSN
- 0020-7179
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๐ SIMILAR VOLUMES
Stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated in this paper. First, the models of two typical second-order nonholonomic systems, namely, a three-link planar manipulator with the third joint unactuated, and a kinematic redundant manipulator wi
In this study a simple general motion planning approach for non-holonomic mechanical systems of chained form is proposed, in which the intricate motion planning problem (steering the system from an initial state to a "nal state) is converted to a simple curve-"tting problem (satisfying a set of end-