Controllability of a planar body with unilateral thrusters

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29 Scopus citations


This paper investigates the minimal number of unilateral thrusters required for different versions of nonlinear controllability of a planar rigid body. For one to three unilateral thrusters, one gets a new property with each additional thruster: one thruster suffices for small-time accessibility on the body's state space TSE(2); two thrusters suffice for global controllability on TSE(2); and three thrusters suffice for small-time local controllability at zero velocity states.

Original languageEnglish (US)
Pages (from-to)1206-1211
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number6
StatePublished - 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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