DocumentCode
1815295
Title
Controllability via chronological calculus
Author
Kawski, Matthias
Author_Institution
Arizona State Univ., Tempe, AZ, USA
Volume
3
fYear
1999
fDate
1999
Firstpage
2920
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;
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.1999.831380
Filename
831380
Link To Document