Control of systems without drift via generic loops
- 1 July 1995
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 40 (7) , 1210-1219
- https://doi.org/10.1109/9.400490
Abstract
This paper proposes a simple numerical tech- nique for the steering of arbitrary analytic systems with no drift. It is based on the generation of \nonsingular loops" which allow linearized controllability along suitable trajeto- ries. Once such loops are available, it is possible to employ standard Newton or steepest descent methods, as classically done in numerical control. The theoretical justication of the approach relies on recent results establishing the gener- icity of nonsingular controls, as well as a simple convergence lemma.Keywords
This publication has 17 references indexed in Scilit:
- Steering nonholonomic systems in chained formPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A general strategy for computing steering controls of systems without driftPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Linearized Control Systems and Applications to Smooth StabilizationSIAM Journal on Control and Optimization, 1994
- Universal nonsingular controlsSystems & Control Letters, 1992
- Global asymptotic stabilization for controllable systems without driftMathematics of Control, Signals, and Systems, 1992
- Explicit design of time-varying stabilizing control laws for a class of controllable systems without driftSystems & Control Letters, 1992
- Finite-dimensional open-loop control generators for non-linear systemsInternational Journal of Control, 1988
- Controllability and linearized regulationIEEE Transactions on Automatic Control, 1987
- An existence theorem for observers of bilinear systemsIEEE Transactions on Automatic Control, 1981
- On the Observability of Polynomial Systems, I: Finite-Time ProblemsSIAM Journal on Control and Optimization, 1979