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Information × Registration Number 0219U102050, 0119U103215 , R & D reports Title Stabilization and motion planning of nonholonomic systems with disturbances. popup.stage_title Head Hrushkovska Viktoriia V., Кандидат фізико-математичних наук Registration Date 16-12-2019 Organization Institute of Applied Mathematics and Mechanics National Academy of Science of Ukraine popup.description2  The main goal of the project is to develop novel control design methods for stabilization and motion planning of perturbed multidimensional non-holonomic systems, in particular, deterministic systems with drift and stochastic systems. A new stabilizing approach is developed for a general class of nonholonomic systems with time-varying drift, which satisfies a certain assumption of boundedness. The approach is based on the construction of control functions ensuring the motion of the system along a gradient flow of a specific potential function. New stability conditions are obtained for non-autonomous nonlinear systems, and an asymptotic behavior of the solutions of systems with constructed controls is analyzed. For differential equations describing the motion of a mechanical unicycle-type system, controls solving the obstacle avoidance problem are constructed. For the dynamic optimization problem, in which the analytic expression of a potential function can be partially or completely unknown, gradient-free control algorithms for the above-mentioned system are obtained. The proposed controls depend only on the values of the potential function and do not use the values of its derivatives. For certain classes of nonholonomic mechanical systems which cannot be stabilized by continuous feedback control, a constructive algorithm for constructing control with the addition of a random process is developed. Product Description popup.authors Vasylieva Iryna H. popup.nrat_date 2020-04-02 Close