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Nonlinear Controllability via Lie Theory
G. W. Haynes,Henry Hermes +1 more
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In this paper, the authors discuss trajectories uniform approximation and nonlinear controllability conditions based on linear partial differential equation (LPDE) for complete system associated with given control.Abstract:
Complete system associated with given control, discussing trajectories uniform approximation and nonlinear controllability conditions based on linear partial differential equationread more
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Bilinear systems: An appealing class of "nearly linear" systems in theory and applications
C. Bruni,G. DiPillo,G. Koch +2 more
TL;DR: This work is intended to motivate the interest of bilinear systems and to present the current state of research in its various aspects.
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Control: A perspective
Karl Johan Åström,P. R. Kumar +1 more
TL;DR: A perspective on feedback control's growth is presented, and the interplay of industry, applications, technology, theory and research is discussed.
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Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles
TL;DR: This work analyzes the controllability of nonholonomic multibody mobile robots and shows that the well-known Controllability Rank Condition Theorem is applicable to these robots even when there are inequality constraints on the velocity.
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Dynamic nonprehensile manipulation : controllability, planning and experiments
Kevin M. Lynch,Matthew T. Mason +1 more
TL;DR: A one-joint manipulator is developed that can perform a variety of dynamic tasks, including snatching an object ftom a table, rolling an object on the surface of the arm, and throwing and catching, and nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces though the nonprehensile contact.
Journal ArticleDOI
Lie Theory and Control Systems Defined on Spheres
TL;DR: In this article, it is shown that in constructing a theory for the most elementary class of control problems defined on spheres, some results from the Lie theory play a natural role, and that to understand controllability, optimal control, and certain properties of stochastic equations, Lie theoretic ideas are needed.