Title :
On eliminating the drift from affine control systems
Author :
Qianqian, Xia ; Zhiyong, Geng
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing, China
Abstract :
In this paper the problem of eliminating the drift from affine control systems is discussed. We investigate the problem from two perspectives: the state extension system with particular form and the quotient driftless system. We give sufficient and necessary conditions on the affine control system such that it admits the above two structures respectively. Relations between the conditions are discussed. Some global results are given.
Keywords :
control system synthesis; path planning; affine control systems; control law design; drift elimination; driftless control systems; motion planning problem; quotient driftless system; state extension system; Educational institutions; Manifolds; Optimal control; Planning; State feedback; Trajectory; Affine control system; drift; driftless; motion planning;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
