DocumentCode
2100408
Title
A local controllability test for nonlinear multiple model systems
Author
Murphey, Todd ; Burdick, Joel
Author_Institution
Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Volume
6
fYear
2002
fDate
2002
Firstpage
4657
Abstract
Develops a local controllability result for multiple model driftless affine control systems. The controllability result can be interpreted as a non-smooth extension of Chow´s theorem (1939), and uses a set-valued Lie bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.
Keywords
Lie algebras; controllability; nonlinear control systems; vehicles; local controllability test; multiple model driftless affine control systems; nonlinear multiple model systems; overconstrained wheeled vehicle; set-valued Lie bracket; Control system synthesis; Controllability; Differential equations; Geometry; Postal services; Q measurement; State-space methods; Switches; System testing; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1025390
Filename
1025390
Link To Document