Control of Nonholonomic Systems and Sub-Riemannian Geometry
Frederic Jean
TL;DR
This paper explores the control theory of nonholonomic systems using sub-Riemannian geometry, providing insights into their mathematical structure and control strategies.
Contribution
It introduces new geometric methods for analyzing and controlling nonholonomic systems within the framework of sub-Riemannian geometry.
Findings
Developed geometric control techniques for nonholonomic systems
Established links between control problems and sub-Riemannian geometry
Provided examples illustrating the application of these methods
Abstract
Lectures given at the CIMPA School "Geometrie sous-riemannienne", Beirut, Lebanon, 2012
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Advanced Differential Geometry Research · Control and Stability of Dynamical Systems