Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции › научная › Рецензирование
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 конференций › статья в сборнике материалов конференции › научная › Рецензирование
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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