Title :
Controllability measure for nonlinear systems in complex region
Author :
Kato, Daisuke ; Sekiguchi, Kazuma ; Sampei, Mitsuji
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
This paper proposes a controllability measure for nonlinear systems which evaluates a degree of controllability. There are many researches on controllability measure for linear systems. However there exists no measure for nonlinear systems. This paper introduces a theorem about a property of systems which are not strongly accessible and proposes controllability measure based on the theorem. Furthermore this paper demonstrates that the measure relates to a distance to a system which is not strongly accessible which is one of measures of evaluating a degree of controllability. Finally this paper applies the measure to an example system and calculates the controllability measure and the distance of the system.
Keywords :
controllability; nonlinear control systems; complex region; controllability measure; nonlinear systems; Controllability;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760623