Steering for a class of dynamic nonholonomic systems

  title={Steering for a class of dynamic nonholonomic systems},
  author={James P. Ostrowski},
  journal={IEEE Trans. Automat. Contr.},
In this paper we derive control algorithms for a class of dynamic nonholonomic steering problems, characterized as mechanical systems with nonholonomic constraints and symmetries. Recent research in geometric mechanics has led to a single, simplified framework that describes this class of systems, which includes examples such as wheeled mobile robots; undulatory robotic and biological locomotion systems, such as paramecia, inchworms, and snakes; and the reorientation of satellites and… CONTINUE READING
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