Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic Floating Robot

Abstract

In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law… (More)
DOI: 10.1177/02783640122067417

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Cite this paper

@article{Aicardi2001CuspFreeT3, title={Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic Floating Robot}, author={Michele Aicardi and Giorgio Cannata and Giuseppe Casalino and Giovanni Indiveri}, journal={I. J. Robotics Res.}, year={2001}, volume={20}, pages={300-311} }