Controllability of a planar body with unilateral thrusters
نویسنده
چکیده
This note investigates the minimal number of unilateral thrusters required for diierent versions of nonlinear controllability of a planar rigid body. For one to three unilateral thrusters, we get a new property with each additional thruster: one thruster yields small-time accessibility on the body's state space TSE(2); two thrusters yield global controllability on TSE(2); and three thrusters yield small-time local controllability at zero velocity states.
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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 44 شماره
صفحات -
تاریخ انتشار 1999