Title :
Controllability of nonholonomic systems on Riemannian manifolds
Author :
Bloch, Anthony M. ; Crouch, Peter E.
Author_Institution :
Dept. of Math., Ohio State Univ., Columbus, OH, USA
Abstract :
The authors discuss an approach to the control of dynamic nonholonomic control systems on Riemannian manifolds. In particular, they give a controllability result for such systems on principal bundles and discuss the example of rolling motion
Keywords :
control system analysis; controllability; nonlinear control systems; Riemannian manifolds; controllability; dynamic nonholonomic control systems; principal bundles; rolling motion; Control systems; Controllability; Interpolation; Kinematics; Manifolds; Mathematics; Mechanical systems; Motion control; Optimal control; Systems engineering and theory;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371458
