Abstract
There are many nonholonomic systems whose controllability structures are much worse than the chained form. Since it is quite hard to design feedback (type) controllers for those systems, many researchers worked on path planning rather than feedback stabilization. In this note, we will consider two of these systems, orientation control of a ball sandwiched and manipulated by two parallel plates, and propulsive control of a snake-like robot. We will analyze their controllability and design feedback type controllers.
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Sampei, M., Date, H., Nakaura, S. (2003). Control of Nonholonomic Systems with Bad Controllability Structure. In: Hashimoto, K., Oishi, Y., Yamamoto, Y. (eds) Control and Modeling of Complex Systems. Trends in Mathematics. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0023-9_17
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DOI: https://doi.org/10.1007/978-1-4612-0023-9_17
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