Local geometric control of a certain mechanism with the growth vector (4,7)

DOI10.1007/S10883-019-09460-7MaRDI QIDQ2174253zbMATH OpenOpenAlexWikidataFDO

Authors Jaroslav Hrdina, Lenka Zalabová

Publication date 21 April 2020

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1802.08480

zbMATH Keywords

Pontryagin's maximum principlesub-Riemannian geometrynilpotent Lie grouplocal control

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Sub-Riemannian geometry (53C17) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: We study local control of the mechanism with the growth vector (4,7). We study controllability and extremal trajectories on the nilpotent approximation as an example of the control theory on Lie group. We give solutions of the system an show examples of local extremal trajectories.

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Cited in

(3)

• Local control of 2-link robotic worms based on additional symmetries
• Symmetries in geometric control theory using Maple
• On symmetries of a sub-Riemannian structure with growth vector \((4, 7)\)

Describes a project that uses

Uses Software

• CLUCalc
• DifferentialGeometry

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