Steering for a class of dynamic nonholonomic systems

In this paper we derive control algorithms for a class of dynamic nonholono mic steering problems, characterized as mechanical systems with nonholonomi c constraints and symmetries. We use a simplified geometric framework in de veloping two types of control algorithms For such systems. The First target s local configuration controllability, using a perturbation approach to est ablish results similar to steering using sinusoids. The second method build s on this approach by utilizing kinematic steering algorithms for mobile ro bots in generating more nonlocal motion plans fur this class of systems.