A local controllability test for nonlinear multiple model systems

Todd Murphey; Joel Burdick

doi:10.1109/acc.2002.1025390

A local controllability test for nonlinear multiple model systems

Todd Murphey^*, Joel Burdick

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow's theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.

Original language	English (US)
Pages (from-to)	4657-4661
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	6
DOIs	https://doi.org/10.1109/acc.2002.1025390
State	Published - 2002
Event	2002 American Control COnference - Anchorage, AK, United States Duration: May 8 2002 → May 10 2002

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/acc.2002.1025390

Cite this

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title = "A local controllability test for nonlinear multiple model systems",

abstract = "This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow's theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.",

author = "Todd Murphey and Joel Burdick",

year = "2002",

doi = "10.1109/acc.2002.1025390",

language = "English (US)",

volume = "6",

pages = "4657--4661",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2002 American Control COnference ; Conference date: 08-05-2002 Through 10-05-2002",

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AU - Murphey, Todd

AU - Burdick, Joel

PY - 2002

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N2 - This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow's theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.

AB - This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow's theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.

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U2 - 10.1109/acc.2002.1025390

DO - 10.1109/acc.2002.1025390

M3 - Conference article

AN - SCOPUS:0036055829

SN - 0743-1619

VL - 6

SP - 4657

EP - 4661

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - 2002 American Control COnference

Y2 - 8 May 2002 through 10 May 2002

ER -

A local controllability test for nonlinear multiple model systems

Abstract

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