Control of Nonholonomic Systems: fr - E-book

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Control Of Nonholonomic Systems: From Sub-riemannian Geometry To Motion Planning - ENG

Frédéric Jean

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Sinopsis

ISBN:	9783319086903
Formato:	ePub
Idioma:	Inglés
Editorial:	Springer Nature
Tema:	Ciencia
Subtema:	Teoría de los Sistemas
Año de publicación:	2014-07-17

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

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