Control of Vehicles with Second-Order

  title={Control of Vehicles with Second-Order},
  author={K. Y. Wichlund and O. J. S rdalen and Olav. Egeland},
This paper studies control properties of the dynamics of underactuated vehicles (e.g. un-deractuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and suucient conditions for these constraints to be second-order nonholonomic, rst-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational eld where the elements corresponding to the unactuated… CONTINUE READING
Highly Cited
This paper has 75 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 51 extracted citations

Holonomy-based control of a three-joint underactuated manipulator

2017 11th International Workshop on Robot Motion and Control (RoMoCo) • 2017
View 1 Excerpt

Dynamic analysis and control synthesis of a spherical wheeled robot (Ballbot)

2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) • 2013
View 1 Excerpt

76 Citations

Citations per Year
Semantic Scholar estimates that this publication has 76 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 18 references

Nonlinear controllers for non-integrable systems: the Acrobot example

1990 American Control Conference • 1990
View 6 Excerpts
Highly Influenced

Nonlinear Control Systems, Springer-Verlag

A. Isidori
View 12 Excerpts
Highly Influenced

Control theory and singular riemannian geometry, in P

R. W. Brockett
View 4 Excerpts
Highly Influenced

Feedback Control of Nonholonomic Mobile Robots, PhD thesis, The Norwegian

O. S rdalen
View 1 Excerpt

Smooth time-periodic feedback solutions for nonholonomic motion

L. Gurvits, Z. Li
View 1 Excerpt

Similar Papers

Loading similar papers…