Controllability and stabilizability properties of a nonholonomic control system

Abstract

Controllability and stabilizability properties are examined for a control system with a nonholonomic constraint. A representative nonholonomic control system example is discussed: the control of a knife edge moving on a plane surface. This example contains the essential features of the general case. It is noted that conditions for small-time local controllability are satisfied. An explicit open loop control is then given which transfers the knife edge to a single equilibrium and an explicit stabilizing feedback control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>