Title :
Determining controllability of snakeboard by differential forms
Author_Institution :
Dept. of Math., Huazhong Univ. of Sci. & Technol., Wuhan
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;
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
DOI :
10.1109/CHICC.2008.4605407
