Standard

Control of driftless systems using piecewise constant inputs. / Gromov, Dmitry; Castanos, Fernando.

SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems. IEEE Canada, 2018. стр. 226-231 (SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems; Том 2018-January).

Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференциинаучнаяРецензирование

Harvard

Gromov, D & Castanos, F 2018, Control of driftless systems using piecewise constant inputs. в SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems. SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems, Том. 2018-January, IEEE Canada, стр. 226-231, SICE International Symposium on Control Systems (SICE ISCS) as a part of the 5th SICE Multi-Symposium on Control Systems (MSCS), Tokyo, Япония, 8/03/18. https://doi.org/10.23919/SICEISCS.2018.8330180

APA

Gromov, D., & Castanos, F. (2018). Control of driftless systems using piecewise constant inputs. в SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems (стр. 226-231). (SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems; Том 2018-January). IEEE Canada. https://doi.org/10.23919/SICEISCS.2018.8330180

Vancouver

Gromov D, Castanos F. Control of driftless systems using piecewise constant inputs. в SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems. IEEE Canada. 2018. стр. 226-231. (SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems). https://doi.org/10.23919/SICEISCS.2018.8330180

Author

Gromov, Dmitry ; Castanos, Fernando. / Control of driftless systems using piecewise constant inputs. SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems. IEEE Canada, 2018. стр. 226-231 (SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems).

BibTeX

@inproceedings{f46a8a676c4f4b1f9b51f968cfdfb6ed,
title = "Control of driftless systems using piecewise constant inputs",
abstract = "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.",
keywords = "Nonholonomic systems, algebraic methods, geometric methods, discrete time control, symbolic computation",
author = "Dmitry Gromov and Fernando Castanos",
year = "2018",
month = apr,
day = "2",
doi = "10.23919/SICEISCS.2018.8330180",
language = "Английский",
series = "SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems",
publisher = "IEEE Canada",
pages = "226--231",
booktitle = "SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems",
address = "Канада",
note = "null ; Conference date: 08-03-2018 Through 11-03-2018",

}

RIS

TY - GEN

T1 - Control of driftless systems using piecewise constant inputs

AU - Gromov, Dmitry

AU - Castanos, Fernando

PY - 2018/4/2

Y1 - 2018/4/2

N2 - 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.

AB - 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.

KW - Nonholonomic systems

KW - algebraic methods

KW - geometric methods

KW - discrete time control

KW - symbolic computation

UR - http://www.scopus.com/inward/record.url?scp=85049341517&partnerID=8YFLogxK

U2 - 10.23919/SICEISCS.2018.8330180

DO - 10.23919/SICEISCS.2018.8330180

M3 - статья в сборнике материалов конференции

T3 - SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems

SP - 226

EP - 231

BT - SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems

PB - IEEE Canada

Y2 - 8 March 2018 through 11 March 2018

ER -

ID: 33264273