Determining controllability of snakeboard by differential forms

Author

Xiaosong, Yang

Author_Institution

Dept. of Math., Huazhong Univ. of Sci. & Technol., Wuhan

fYear

2008

fDate

16-18 July 2008

Firstpage

372

Lastpage

374

Abstract

This paper serves as an introduction to determining controllability of nonlinear systems by virtue of theory of exterior differential forms. Therefore the purpose of this paper is not to present a completely novel work, but to present an introduction to applications of exterior differential forms to control problems for people who are not familiar with differential geometry, especially who are new to theory of exterior differential system. A new proof of controllability of the snakeboard model by exterior differential forms is given to show utility of the theory of exterior differential forms to control systems.

Keywords

controllability; differential geometry; mobile robots; motion control; nonlinear control systems; differential geometry; exterior differential forms; nonlinear systems; snakeboard controllability; Control system synthesis; Control systems; Controllability; Geometry; Legged locomotion; Mathematics; Mechanical factors; Nonlinear control systems; Nonlinear systems; Robot control; Controllability; Exterior differential forms; Snakeboard;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605407

Filename

4605407