Abstract

Tracking and/or point to point motion for Nonholonomic Controllable nonlinear systems is considered in this paper. These nonlinear systems have drift free dynamics with fewer controls than states. In particular, we utilize the Trajectory Pattern Method in order to attain the necessary open-loop control signals for tracking and/or point to point motion for nonholonomic systems of any finite degree. The Trajectory Pattern Method is applied to the unicycle and front-wheel car motion planning problems. An adaptive scheme for uncertain nonholonomic systems is discussed. Finally, the time optimal control problem for nonholonomic systems is addressed.

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