Abstract
We will propose new control method for a class of nonholonomic systems with drift. We consider a conservative mechanical (Lagrangian) system which has one cyclic coordinate. Such a system may yield a nonholonomic system with a nonvanishing drift term. Sufficient condition for small time local controllability (STLC) of the system with sufficiently large inputs was derived, but only an open-loop path planning has been proposed. In this paper, we give a feedback control method for the system using the time-state control form via time-varying coordinate and input transformations.
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