American Control Conference Albuquerque , June 4 - 6 , 1997
نویسندگان
چکیده
This paper studies open-loop tracking and feedback stabilization for nonholonomic systems. Using the concept of approximate inversion, results for drift-free, left-invariant systems on speciic matrix Lie groups are presented .
منابع مشابه
Albuquerque , New Mexico , June 4 - 6 , 1997 Controllability of Lie - Poisson Reduced Dynamics 1
In this paper we present suucient conditions for the controllability of the reduced dynamics of a class of mechanical systems with symmetry. We prove conditions (boundedness of coadjoint orbits and existence of a radially unbounded Lyapunov function) under which the drift vector eld (of the reduced system) is weakly positively Poisson stable (WPPS). The WPPS nature of the drift vector eld along...
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