Periodic control of nonholonomic systems with constrained input characteristics

Abstract

This paper proposes a new control strategy for a class of nonholonomic systems with input constraints, which does not require any input/state transformation to canonical forms nor precise system models. Based on the principle of holonomy, we adopt periodic control motion to achieve the desired posture of the target system. Simulation results show that the method is robust against the model uncertainty and it is applicable for various input constraints.