next up previous contents
Next: Switching Control of Drift-Free Up: Systems and Control Theory Previous: Nonlinear H-infinity analysis of

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.

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997