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arXiv · 0906.1588

Closed-Form Trajectories of the Unicycle

Andres Garcia·Osvaldo Agamennoni·Jose Figueroa
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Abstract

This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type robot, stability is guaranteed with the salient property that the structure of the controller allows to solve in closed-form the trajectories of the vehicle. While the proposed controller only ensures stability (not asymptotic stability) the obtained closed-form solutions will show a path to obtain in closed form the solutions for the general control problem of the unicycle. Some conclusions and future directions for research are also depicted.

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Andres Garcia, Osvaldo Agamennoni, Jose Figueroa. 2009-06-08. Closed-Form Trajectories of the Unicycle. https://arxiv.org/abs/0906.1588

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