Local controllability and motion planning for some classes of systems with drift
- 9 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1110-1114
- https://doi.org/10.1109/cdc.1991.261504
Abstract
We explain how some recent results on the designof controls for nonoholomic systems withoutdrift can be extended to some classes of sytemswith drift. In particular, we show that a dynamicextension of a driftless system that satisfies theLie algebra rank condition necessary satisfies algebraicsufficient conditions for small-time localcontrollability at all its equilibrium points.1. Introduction.Many mechanical systems can be modelled as controlsystems of the form\Sigma : x = f 0...Keywords
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