Published May 2002
| Published
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A local controllability test for nonlinear multiple model systems
- Creators
- Murphey, Todd
- Burdick, Joel
Abstract
Develops a local controllability result for multiple model driftless affine control systems. The controllability result can be interpreted as a non-smooth extension of Chow's theorem (1939), and uses a set-valued Lie bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.
Additional Information
© 2002 AACC. This work was partially supported by the National Science Foundation (grant NSF9402726) through its Engineering Research Center (ERC) program.Attached Files
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Additional details
- Eprint ID
- 96688
- Resolver ID
- CaltechAUTHORS:20190625-094609530
- EEC-9402726
- NSF
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2019-06-25Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field