Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

Mobile robots did not wait to know that they were nonholonomic to plan and execute their
motions autonomously. It is interesting to notice that the first navigation systems have been …

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

Stability theory has allowed us to study both qualitative and quantitative properties of
dynamical systems, and control theory has played a key role in designing numerous …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

This thesis is devoted to nonlinear control, reduction, and classification of underactuated
mechanical systems. Underactuated systems are mechanical control systems with fewer …

This paper presents Continuous Curvature (CC) Steer, a steering method for car-like
vehicles, ie, an algorithm planning paths in the absence of obstacles. CC Steer is the first to …

At publication, The Control Handbook immediately became the definitive resource that
engineers working with modern control systems required. Among its many accolades, that …

This paper describes the application of di erential atness techniques from nonlinear control
theory to mechanical (Lagrangian) systems. Systems which are di erentially at have several …

This paper deals with nonholonomic control systems in chained form with strongly nonlinear
disturbances and drift terms. The objective is to design a robust nonlinear state and output …