DocumentCode
1518144
Title
Controllability of a planar body with unilateral thrusters
Author
Lynch, Kevin M.
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Volume
44
Issue
6
fYear
1999
fDate
6/1/1999 12:00:00 AM
Firstpage
1206
Lastpage
1211
Abstract
Investigates the minimal number of unilateral thrusters required for different versions of nonlinear controllability of a planar rigid body. For one to three unilateral thrusters, one gets a new property with each additional thruster: one thruster suffices for small-time accessibility on the body´s state space TSE(2); two thrusters suffice for global controllability on TSE(2); and three thrusters suffice for small-time local controllability at zero velocity states
Keywords
Lie algebras; controllability; nonlinear control systems; state-space methods; TSE(2) state space; global controllability; nonlinear controllability; planar body; small-time accessibility; small-time local controllability; unilateral thrusters; Automatic control; Control systems; Controllability; Feedback; Minimax techniques; Nonlinear control systems; Space vehicles; State-space methods; Sufficient conditions; Velocity control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.769375
Filename
769375
Link To Document