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
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;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025390
