Control of Cart-Like Nonholonomic Systems Using a Mobile Manipulator
Sergio Aguilera,Seth Hutchinson,Sergio Aguilera,Seth Hutchinson
This work focuses on the capability of Mobile Manipulators to effectively control and maneuver cart-like non-holonomic systems. These cart-like systems are passive-wheeled objects with nonholonomic constraints with varying inertial parameters. We derive the dynamic equations of the cart-like system using a constrained Euler-Lagrange formulation and propose a Linear Quadratic Regulator controller t...
