摘要：AbstractThe paper focuses on the development of the navigation function approach for nonlinear systems with fast oscillating controls. This approach allows to solve the obstacle avoidance problem and generate reference trajectories on the state space with obstacles by using the gradient flow of a navigation function. In general, such gradient flow cannot be implemented for underactuated control systems, and an approximation of non-admissible velocities is needed for the control design. We present here an approximation result under low-order controllability assumptions. Our control design scheme is illustrated by an example of a nonholonomic system.
关键词：KeywordsLyapunov methodsasymptotic stabilizationapplication of nonlinear analysisdesignanalytic designcontrol of constrained systems
