Steering nonholonomic integrator using orthogonal polynomials

TL;DR

This paper develops analytical solutions for steering nonholonomic systems using orthogonal polynomials, enabling efficient control with minimum energy and sub-optimal inputs, expanding beyond traditional trigonometric approaches.

Contribution

It introduces a novel method employing various orthogonal polynomial families for optimal control of nonholonomic integrators and Lie group systems, including sub-optimal control strategies.

Findings

Analytical solutions for nonholonomic steering using orthogonal polynomials.

Extension of control methods to Lie group $ ext{SO}(3)$ systems.

Sub-optimal control inputs derived from orthogonal functions for $ ext{L}_1$ cost.

Abstract

We consider minimum energy optimal control problem with time dependent Lagrangian on the nonholonomic integrator and and find the analytical solution using Sturm-Liouville theory. Furthermore, we also consider the minimum energy problem on the Lie group $\mathbb{SO}(3)$ with time dependent Lagrangian. We show that the steering of nonholonomic integrator and generalized nonholonomic integrator can be achieved by using various families of orthogonal polynomials such as Chebyshev, Legendre and Jacobi polynomials apart from trigonometric polynomials considered in the literature. Finally, we show how to find sub-optimal inputs using elements from a family of orthogonal functions when the cost function is given by the $\mathcal{L}_1$ norm of the input.