Title :
Local controllability and motion planning for some classes of systems with drift
Author :
Sussmann, Héctor J.
Author_Institution :
Dept. of Math., Rutgers Univ., New Brunswick, NJ, USA
Abstract :
The author explains how some recent results on the design of controls for nonholonomic systems without drift can be extended to some classes of systems with drift. In particular, it is shown that a dynamic extension of a driftless system that satisfies the Lie algebra rank condition necessary satisfies algebraic sufficient conditions for small-time local controllability at all its equilibrium points
Keywords :
Lie algebras; control system synthesis; controllability; nonlinear control systems; path planning; Lie algebra rank condition; algebraic sufficient conditions; control system synthesis; driftless system; equilibrium points; local controllability; motion planning; nonholonomic systems; Algebra; Algorithm design and analysis; Control system analysis; Control systems; Controllability; Mechanical factors; Mechanical systems; Motion control; State-space methods; Sufficient conditions;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261504
