Nonsmooth controllability theory and an example

T. D. Murphey; J. W. Burdick

Nonsmooth controllability theory and an example

T. D. Murphey^*, J. W. Burdick

^*Corresponding author for this work

Mechanical Engineering

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

14 Scopus citations

Abstract

This paper extends recent results in local controllability analysis for Multiple Model Driftless Affine (MMDA) control systems. Such controllability results can be interpreted as non-smooth extensions of Chow's theorem, and use a set-valued Lie Bracket. In particular, we formulate controllability in terms of generalized differential quotients (GDQs). Additionally, we present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems. Moreover, this paper indicates that a multiple model system consisting of individually controllable models is not necessarily controllable.

Original language	English (US)
Pages (from-to)	370-376
Number of pages	7
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	1
State	Published - Dec 1 2002
Event	41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

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abstract = "This paper extends recent results in local controllability analysis for Multiple Model Driftless Affine (MMDA) control systems. Such controllability results can be interpreted as non-smooth extensions of Chow's theorem, and use a set-valued Lie Bracket. In particular, we formulate controllability in terms of generalized differential quotients (GDQs). Additionally, we present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems. Moreover, this paper indicates that a multiple model system consisting of individually controllable models is not necessarily controllable.",

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AU - Burdick, J. W.

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N2 - This paper extends recent results in local controllability analysis for Multiple Model Driftless Affine (MMDA) control systems. Such controllability results can be interpreted as non-smooth extensions of Chow's theorem, and use a set-valued Lie Bracket. In particular, we formulate controllability in terms of generalized differential quotients (GDQs). Additionally, we present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems. Moreover, this paper indicates that a multiple model system consisting of individually controllable models is not necessarily controllable.

AB - This paper extends recent results in local controllability analysis for Multiple Model Driftless Affine (MMDA) control systems. Such controllability results can be interpreted as non-smooth extensions of Chow's theorem, and use a set-valued Lie Bracket. In particular, we formulate controllability in terms of generalized differential quotients (GDQs). Additionally, we present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems. Moreover, this paper indicates that a multiple model system consisting of individually controllable models is not necessarily controllable.

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M3 - Conference article

AN - SCOPUS:0036990407

SN - 0191-2216

VL - 1

SP - 370

EP - 376

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 41st IEEE Conference on Decision and Control

Y2 - 10 December 2002 through 13 December 2002

ER -

Nonsmooth controllability theory and an example

Abstract

ASJC Scopus subject areas

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