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

DOI10.1007/S10883-019-09460-7zbMATH Open1439.53034arXiv1802.08480OpenAlexW2971405135WikidataQ127297574 ScholiaQ127297574MaRDI QIDQ2174253FDOQ2174253

Authors: Jaroslav Hrdina, Lenka Zalabová 

Publication date: 21 April 2020

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

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.

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

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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)

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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 \((4, 7)\)

Uses Software

• DifferentialGeometry
• CLUCalc

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