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The International Journal of Robotics Research
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Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic Floating Robot

Michele Aicardi

Giorgio Cannata

Giuseppe Casalino

DIST-Department of Communications, Computers and Systems Science, Università di Genova, via all’Opera Pia 13, 16145 Genova, Italy

Giovanni Indiveri

GMD-AiS, German National Research Center on Information Technologies, Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754 Sankt Augustin, Germanygiovanni.indiveri{at}gmd.de

In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential convergence of the configuration error to zero with paths that do not exhibit any cusps, thus satisfying a major requirement for the application of such results on real systems that are not allowed or desired to move in both the forward and backward directions.

Key Words: nonholonomic systems • position control • underactuated vehicles • time-invariant control

The International Journal of Robotics Research, Vol. 20, No. 4, 300-311 (2001)
DOI: 10.1177/02783640122067417
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