Control of Nonholonomic Systems with Bad Controllability Structure
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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.
KeywordsNonholonomic system Time-state control form Ball-plate manipulation Manipulability Snake-like locomotion
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