DocumentCode
2412008
Title
Controllability of nonholonomic systems on Riemannian manifolds
Author
Bloch, Anthony M. ; Crouch, Peter E.
Author_Institution
Dept. of Math., Ohio State Univ., Columbus, OH, USA
fYear
1992
fDate
1992
Firstpage
1594
Abstract
The authors discuss an approach to the control of dynamic nonholonomic control systems on Riemannian manifolds. In particular, they give a controllability result for such systems on principal bundles and discuss the example of rolling motion
Keywords
control system analysis; controllability; nonlinear control systems; Riemannian manifolds; controllability; dynamic nonholonomic control systems; principal bundles; rolling motion; Control systems; Controllability; Interpolation; Kinematics; Manifolds; Mathematics; Mechanical systems; Motion control; Optimal control; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location
Tucson, AZ
Print_ISBN
0-7803-0872-7
Type
conf
DOI
10.1109/CDC.1992.371458
Filename
371458
Link To Document