Title :
Controllability via chronological calculus
Author :
Kawski, Matthias
Author_Institution :
Arizona State Univ., Tempe, AZ, USA
Abstract :
The chronological formalism, in particular, exponential product expansions and combinatorial features of Viennot-Hall bases are shown to lead to streamlined proofs of conditions for controllability and optimality for nonlinear control systems. The focus is on high-order conditions for small-time local controllability. The key features are adapted Viennot-Hall bases and Lazard elimination tailored to the specific conditions, which together refine the construction of Sussmann´s exponential product expansion (1986, 1987)
Keywords :
calculus; combinatorial mathematics; controllability; nonlinear control systems; Lazard elimination; Viennot-Hall bases; chronological calculus; combinatorial features; exponential product expansion; exponential product expansions; nonlinear control systems; optimality conditions; small-time local controllability; Angular velocity; Angular velocity control; Calculus; Control systems; Controllability; Feedback; Linearization techniques; Nonlinear control systems; Nonlinear equations; Refining;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831380
