Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published December 1996 | Published
Book Section - Chapter Open

Controllability with unilateral control inputs

Abstract

Many control systems contain control inputs which are constrained to be nonnegative. Unfortunately, the unilateral nature of such inputs makes them similar to a drift term, and correspondingly complicates any attempt to determine controllability. We present a controllability test in which Lie brackets are characterized as "good" or "bad," from which controllability follows from the relationship, between these "good" and "bad" brackets, This test is relatively straightforward to apply and its application is illustrated with an example.

Additional Information

© 1996 IEEE. The authors would like to thank Andrew Lewis for helpful discussions regarding the technical aspects of the proof presented in Appendix 4. This work was partially supported by a grant from the Office of Naval Research.

Attached Files

Published - 00573682.pdf

Files

00573682.pdf
Files (600.0 kB)
Name Size Download all
md5:5d700f07361c40249b811d32520b4292
600.0 kB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 20, 2023