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Feedback Control of Nonholonomic Systems

H. Michalska

Nonlinear systems with nonholonomic constraints are encountered quite frequently in practice but are known to be particularly difficult to control. The difficulty in steering such systems is caused by the fact that their linearization is uncontrollable and fully linearizing state-feedback transformations cannot be constructed.

Annual Report

Fri Nov 26 23:00:32 GMT 1999