Published December 1996
| Published
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Controllability with unilateral control inputs
- Creators
- Goodwine, Bill
- Burdick, Joel
Chicago
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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
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Additional details
- Eprint ID
- 96347
- Resolver ID
- CaltechAUTHORS:20190612-151720962
- Office of Naval Research (ONR)
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