Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

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, th...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Jean, Frédéric (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Cham : Springer International Publishing : Imprint: Springer, 2014.
Edición:1st ed. 2014.
Colección:SpringerBriefs in Mathematics,
Temas:
System theory.
Control theory.
Geometry, Differential.
Artificial intelligence.
Mathematics.
Computer science.
Systems Theory, Control .
Differential Geometry.
Artificial Intelligence.
Computer Science.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • 1 Geometry of nonholonomic systems
  • 2 First-order theory
  • 3 Nonholonomic motion planning
  • 4 Appendix A: Composition of flows of vector fields
  • 5 Appendix B: The different systems of privileged coordinates.

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