DocumentCode
1811709
Title
Constructive necessary and sufficient conditions for strict triangularizability of driftless nonholonomic systems
Author
Marigo, Alessia
Author_Institution
Centro E. Piaggio, Pisa Univ., Italy
Volume
3
fYear
1999
fDate
1999
Firstpage
2138
Abstract
The steering problem is a key issue in control theory. In particular closed-form solutions have been provided in the literature only for special classes of systems. Previously this class of systems has been enlarged to the class of systems which have a strictly triangular form. In this paper we consider the problem of finding necessary and sufficient conditions for a system to be equivalent, up to reparameterization of the configuration manifold, to a strict triangular form system
Keywords
Lie algebras; control systems; matrix algebra; stability; closed-form solutions; constructive necessary and sufficient conditions; driftless nonholonomic systems; steering problem; strict triangular form system; strict triangularizability; Algebra; Asymptotic stability; Control systems; Diversity reception; Ear; Feedback; Lyapunov method; Polynomials; Sufficient conditions; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.831236
Filename
831236
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