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Feedback Control of Nonholonomic Systems

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.

H. Michalska

Thierry Baron
Mon Nov 13 10:43:02 EST 1995