DocumentCode
3596894
Title
Motion planning for polynomial systems without drift
Author
Nikitin, Sergey
Author_Institution
Dept. of Math., Arizona State Univ., Tempe, AZ, USA
Volume
4
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
2931
Abstract
Discusses control synthesis for certain cascade type polynomial systems addressed in the paper as Chaplygin systems. A numerical control synthesis as well as characterization of a reachability set are presented. The results of the paper are important for various branches of system theory where control synthesis is concerned. In particular, it is of special interest for optimal control and for feedback synthesis
Keywords
Lie algebras; cascade systems; control system synthesis; controllability; nonlinear control systems; path planning; polynomials; Chaplygin systems; cascade type polynomial systems; feedback synthesis; motion planning; numerical control synthesis; reachability set; Algebra; Control system synthesis; Control systems; Controllability; Feedback; Lagrangian functions; Mathematics; Nonlinear control systems; Nonlinear systems; Polynomials;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786610
Filename
786610
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