Control of nonholonomic systems [Documento electrónico] : from sub-riemannian geometry to motion planning / Frédéric Jean
Language: eng.Country: Germany.Publication: Cham : Springer International Publishing, 2014Description: X, 104 p. : il.ISBN: 978-3-319-08690-3.Series: SpringerBriefs in MathematicsSubject - Topical Name: Geometria diferencial Online Resources:Click here to access onlineItem type | Current library | Collection | Call number | Copy number | Status | Date due | Barcode | |
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E-Books | Biblioteca NOVA FCT Online | Não Ficção | QA641.SPR FCT 82077 (Browse shelf(Opens below)) | 1 | Available |
Colocação: Online
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
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