DocumentCode
391115
Title
Geometric local controllability: second-order conditions
Author
Hirschorn, Ron M. ; Lewis, Andrew D.
Author_Institution
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
Volume
1
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
368
Abstract
The notion of a control-affine system is abstracted to its geometric essence: an affine subbundle. The notions of control systems and controllability are presented, and general second-order conditions for local controllability are given. The conditions are notable in that their hypotheses involve only the affine subbundle, and objects directly related to it. In this way the conditions we give are guaranteed to be independent of feedback transformations.
Keywords
controllability; geometry; set theory; affine subbundle; control-affine system; geometric local controllability; second-order conditions; Control systems; Controllability; Feedback; Geometry; Mathematics; Statistics; Sufficient conditions; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184521
Filename
1184521
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