%0 Journal Article
%T Closed-Form Trajectories of the Unicycle
%A Andres Garcia
%A Osvaldo Agamennoni
%A Jose Figueroa
%J Mathematics
%D 2009
%I arXiv
%X This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type robot, stability is guaranteed with the salient property that the structure of the controller allows to solve in closed-form the trajectories of the vehicle. While the proposed controller only ensures stability (not asymptotic stability) the obtained closed-form solutions will show a path to obtain in closed form the solutions for the general control problem of the unicycle. Some conclusions and future directions for research are also depicted.
%U http://arxiv.org/abs/0906.1588v1