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- Title
Motion planning and stabilization of nonholonomic systems using gradient flow approximations.
- Authors
Grushkovskaya, Victoria; Zuyev, Alexander
- Abstract
Nonlinear control-affine systems described by ordinary differential equations with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems under the bracket-generating condition. This methodology is based on the approximation of a gradient-like dynamics by trajectories of the designed closed-loop system. As an intermediate outcome, we characterize the asymptotic behavior of solutions of the considered class of nonlinear control systems with oscillating inputs under rather general assumptions on the generating potential function. These results are applied to examples of nonholonomic trajectory tracking and obstacle avoidance.
- Subjects
NONHOLONOMIC dynamical systems; ORDINARY differential equations; OSCILLATIONS; VECTOR fields; CLOSED loop systems; GENERATING functions
- Publication
Nonlinear Dynamics, 2023, Vol 111, Issue 23, p21647
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-023-08908-7