In this paper we use geometric tools to establish controllability properties of driftless systems which have less control inputs than states, but whose input vector fields span a non-involutive distribution. Our prototypical class of systems is conformed by kinematic models of non-holonomic systems such as the unicycle or a car with N trailers. We restrict our class of inputs to those which are piecewise constant. The restriction gives way to an easy implementation in discrete time and allows to formulate control problems as systems of polynomial equations. The control problems can then be addressed using geometric-algebraic tools and can be solved explicitly using symbolic computational software if their size is reasonable.

Original languageEnglish
Title of host publicationSICE ISCS 2018 - 2018 SICE International Symposium on Control Systems
PublisherIEEE Canada
Pages226-231
Number of pages6
ISBN (Electronic)978-490776458-6
DOIs
StatePublished - 2 Apr 2018
EventSICE International Symposium on Control Systems (SICE ISCS) as a part of the 5th SICE Multi-Symposium on Control Systems (MSCS) - Tokyo, Japan
Duration: 8 Mar 201811 Mar 2018

Publication series

NameSICE ISCS 2018 - 2018 SICE International Symposium on Control Systems
Volume2018-January

Conference

ConferenceSICE International Symposium on Control Systems (SICE ISCS) as a part of the 5th SICE Multi-Symposium on Control Systems (MSCS)
Country/TerritoryJapan
CityTokyo
Period8/03/1811/03/18

    Scopus subject areas

  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Process Chemistry and Technology

    Research areas

  • Nonholonomic systems, algebraic methods, geometric methods, discrete time control, symbolic computation

ID: 33264273