Full Content is available to subscribers

Subscribe/Learn More  >

Single-Input Planar Navigation via Proportional Heading Control Exploiting Nonholonomic Mechanics or Vortex Shedding

[+] Author Affiliations
Michael J. Fairchild, Peter M. Hassing, Scott David Kelly, Parthesh Pujari, Phanindra Tallapragada

University of North Carolina at Charlotte, Charlotte, NC

Paper No. DSCC2011-6191, pp. 345-352; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


We present a strategy for coupled steering and motion generation applicable to a class of single-input planar robotic vehicles. We demonstrate this strategy through simulations of two different vehicles under closed-loop control, the first a novel variation of the Chaplygin sleigh and the second a fishlike swimmer in an ideal fluid. The dynamics of the former are influenced by a nonholonomic constraint and the dynamics of the latter by a hydrodynamic force associated with vortex shedding. The juxta-position of these two systems highlights a link between nonholonomic mechanics and hydrodynamics explored in a prior paper.

Copyright © 2011 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In