• DocumentCode
    1844983
  • Title

    Explicitly solvable control problems with nonholonomic constraints

  • Author

    Brockett, Roger W.

  • Author_Institution
    Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
  • Volume
    1
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    13
  • Abstract
    The article describes a family of explicitly solvable optimal control problems involving nonholonomic systems. It appears that the optimal trajectories for these problems need only be piecewise smooth with the smooth arcs being given in terms of a product of matrix exponentials. The solvability of matrix equations of the form eΩeH-Ω=X plays a key role
  • Keywords
    Lie algebras; Lie groups; computability; constraint theory; matrix algebra; optimal control; explicitly solvable control problems; matrix equation solvability; matrix exponential products; nonholonomic constraints; optimal control problems; optimal trajectories; piecewise smooth; smooth arcs; Algebra; Control systems; Controllability; Differential equations; Matrices; Optimal control; Space stations;
  • 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.1999.832739
  • Filename
    832739
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1844983