Control of Nonholonomic Systems: from Sub-Riemannian by Frédéric Jean

By Frédéric Jean

Nonholonomic platforms are keep an eye on platforms which rely linearly at the regulate. Their underlying geometry is the sub-Riemannian geometry, which performs for those structures an analogous position as Euclidean geometry does for linear structures. particularly the standard notions of approximations on the first order, which are crucial for keep an eye on reasons, need to be outlined by way of this geometry. the purpose of those notes is to give those notions of approximation and their software to the movement making plans challenge for nonholonomic systems.

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