A local controllability test for nonlinear multiple model systems ACC 02 -
نویسندگان
چکیده
This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow’s theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.
منابع مشابه
A local controllability test for nonlinear multiple model systems
This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow’s theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.
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