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

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

Autor Frédéric Jean
en Limba Engleză Paperback – 30 iul 2014
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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Specificații

ISBN-13: 9783319086897
ISBN-10: 3319086898
Pagini: 116
Ilustrații: X, 104 p. 1 illus. in color.
Dimensiuni: 155 x 235 x 7 mm
Greutate: 0.19 kg
Ediția:2014
Editura: Springer
Locul publicării:Cham, Switzerland

Public țintă

Research

Cuprins

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.

Recenzii

“The main objective of the book under review is tointroduce the readers to nonholonomic systems from the point of view of controltheory. … the book is a concise survey of the methods for motion planning ofnonholonomic control systems by means of nilpotent approximation. It containsboth the theoretical background and the explicit computational algorithms forsolving this problem.” (I. Zelenko, Bulletin of the American MathematicalSociety, Vol. 53 (1), January, 2016)
“This book is nicely done and provides an introduction to the motion planning problem and its associated mathematical theory that should be beneficial to theorists in nonlinear control theory. The exposition is concise, but at the same time clear and carefully developed.” (Kevin A. Grasse, Mathematical Reviews, August, 2015)

Caracteristici

Provides recent results and state-of-the-art in nonholonomic motion planning Includes the description of a complete algorithm It is a crash course on first-order theory in sub-Riemannian geometry Includes supplementary material: sn.pub/extras