An Approximation Algorithm for Nonholonomic Systems

DOI10.1137/S0363012993260501zbMath0887.34063OpenAlexW1989392458MaRDI QIDQ4377379

Wensheng Liu

Publication date: 9 February 1998

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/s0363012993260501

zbMATH Keywords

free associative algebrasfree Lie algebrasChen-Fliess seriesnonholonomic motion planningcontrol affine systemsextended inputs

Mathematics Subject Classification ID

Controllability (93B05) Geometric methods (93B27) Geometric methods in ordinary differential equations (34A26) Control problems involving ordinary differential equations (34H05) Control/observation systems governed by ordinary differential equations (93C15) Perturbations, asymptotics of solutions to ordinary differential equations (34E10)

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