Sontag : Control of Systems without Drift via Generic Loops
نویسنده
چکیده
| This paper proposes a simple numerical technique for the steering of arbitrary analytic systems with no drift. It is based on the generation of \nonsingular loops" which allow linearized controllability along suitable trajetories. Once such loops are available, it is possible to employ standard Newton or steepest descent methods, as classically done in numerical control. The theoretical justi cation of the approach relies on recent results establishing the genericity of nonsingular controls, as well as a simple convergence lemma. Keywords|steering of nonholonomic systems, nonsingular controls, mechanical systems, nonlinear control, nonlinear feedback
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Control of Systems without Drift via Generic Loops
A simple numerical technique for path-planning is presented, which relies upon recent developments regarding the existence of universal nonsingular controls. It is based on the use of \generic loops" which provide rst-order controllability along trajectories. The method can be applied in principle to any analytic system having no drift term. The basic theoretical framework is reviewed, and a co...
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