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
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;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184521
