{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T03:15:51Z","timestamp":1779333351022,"version":"3.51.4"},"reference-count":25,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1994,2,1]],"date-time":"1994-02-01T00:00:00Z","timestamp":760060800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1994,2]]},"abstract":"<jats:p>There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified ap proach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then dis cuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mo bile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performance of trajectory-tracking and path-following algo rithms.<\/jats:p>","DOI":"10.1177\/027836499401300104","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"55-69","source":"Crossref","is-referenced-by-count":256,"title":["Control of Mechanical Systems With Rolling Constraints"],"prefix":"10.1177","volume":"13","author":[{"given":"Nilanjan","family":"Sarkar","sequence":"first","affiliation":[{"name":"General Robotics and Active Sensory Perception (GRASP) Laboratory University of Pennsylvania Philadelphia, Pennsylvania 19104-6228"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Xiaoping Yun","sequence":"additional","affiliation":[{"name":"General Robotics and Active Sensory Perception (GRASP) Laboratory University of Pennsylvania Philadelphia, Pennsylvania 19104-6228"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"General Robotics and Active Sensory Perception (GRASP) Laboratory University of Pennsylvania Philadelphia, Pennsylvania 19104-6228"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1994,2,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Barraquand, J."},{"key":"atypb2","volume-title":"Proceedings of 29th IEEE Conference on Decision and Control","author":"Bloch, A."},{"key":"atypb3","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Campion, G."},{"key":"atypb4","volume-title":"IEEE International Conference on Robotics and Automation","author":"Clark, J.J."},{"key":"atypb5","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"d'Andrea-Novel, B."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"atypb7","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Fraichard, T."},{"key":"atypb8","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Koren, Y."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258987"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.2912585"},{"key":"atypb11","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Kumar, V."},{"key":"atypb12","volume-title":"10th International Joint Conference on Artificial Intelligence","author":"Laumond, J.P."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2101-0"},{"key":"atypb14","volume-title":"A Treatise on Analytical Dynamics","author":"Pars, L.A.","year":"1968"},{"key":"atypb15","volume-title":"International Joint Conference on Artificial Intelligence","author":"Wallace, W."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1990.145.367"},{"key":"atypb17","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Samson, C."},{"key":"atypb18","volume-title":"A system for fast navigation of autonomous vehicles","author":"Singh, S.","year":"1991"},{"key":"atypb19","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Singh, S."},{"key":"atypb20","volume-title":"Proceedings of 1991 International Conference on Robotics and Automation","author":"Skewis, T."},{"key":"atypb21","volume-title":"Applied Nonlinear Control","author":"Slotine, J.","year":"1991"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087120"},{"key":"atypb23","volume-title":"Proceedings of the 27th IEEE Conference on Decision and Control","author":"Yun, X."},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1109\/70.97873"},{"key":"atypb25","volume-title":"IEEE International Conference on Robotics and Automation","author":"Yun, X."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499401300104","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499401300104","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:48Z","timestamp":1777457688000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499401300104"}},"subtitle":["Application to Dynamic Control of Mobile Robots"],"short-title":[],"issued":{"date-parts":[[1994,2]]},"references-count":25,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1994,2]]}},"alternative-id":["10.1177\/027836499401300104"],"URL":"https:\/\/doi.org\/10.1177\/027836499401300104","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,2]]}}}