Title page for ETD etd-01162003-101432


Type of Document Master's Thesis
Author Wadoo, Sabiha Amin
URN etd-01162003-101432
Title Feedback Control and Nonlinear Controllability of Nonholonomic Systems.
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kachroo, Pushkin Committee Chair
Abbott, A. Lynn Committee Member
Stilwell, Daniel J. Committee Member
Keywords
  • controllability
  • point stabilization
  • nonholonomic
  • trajectory tracking
  • autonomous vehicle
  • path following.
Date of Defense 2003-01-09
Availability unrestricted
Abstract
In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motion planning and design of the feedback control laws for an autonomous underwater vehicle: a nonholonomic system. The nonlinear controllability issues for the system are also studied. For the design of feedback controllers, the system is transformed into chained and power forms. The methods of transforming a nonholonomic system into these forms are discussed. The work presented in this thesis is a step towards the initial study concerning the applicability of kinematic-based control on underwater vehicles.
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