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Information × Registration Number 0119U103215, ( 0219U102050  ) R & D request Title Stabilization and motion planning of nonholonomic systems with disturbances. Head Hrushkovska Viktoriia V., Кандидат фізико-математичних наук Registration Date 16-10-2019 Organization Institute of Applied Mathematics and Mechanics National Academy of Science of Ukraine popup.description1 The main goal of the project is to develop novel control design methods stabilization and motion planning of perturbed multidimensional nonholonomic systems, in particular, deterministic systems with drift and stochastic systems. It is expected to study such problems as stabilization of the system motion, motion planning with obstacle avoidance, dynamic optimization problems. To achieve the goal of the project, we will develop control ensuring the motion of a nonholonomic system along a gradient flow of a certain potential function, for example, Lyapunov function in stabilization problems, navigation function in obstacle avoidance problems, cost function in extremum seeking problems. popup.nrat_date 2024-12-10 Close