Title :
Motion planning for polynomial systems without drift
Author_Institution :
Dept. of Math., Arizona State Univ., Tempe, AZ, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
Discusses control synthesis for certain cascade type polynomial systems addressed in the paper as Chaplygin systems. A numerical control synthesis as well as characterization of a reachability set are presented. The results of the paper are important for various branches of system theory where control synthesis is concerned. In particular, it is of special interest for optimal control and for feedback synthesis
Keywords :
Lie algebras; cascade systems; control system synthesis; controllability; nonlinear control systems; path planning; polynomials; Chaplygin systems; cascade type polynomial systems; feedback synthesis; motion planning; numerical control synthesis; reachability set; Algebra; Control system synthesis; Control systems; Controllability; Feedback; Lagrangian functions; Mathematics; Nonlinear control systems; Nonlinear systems; Polynomials;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786610
