Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems

DOI10.1016/j.sysconle.2005.06.006zbMath1129.93353OpenAlexW1965247249MaRDI QIDQ2504642

Wissem Khefifi, Ignacy Dulȩba

Publication date: 25 September 2006

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2005.06.006

zbMATH Keywords

Lie algebranonholonomic systemsmotion planningaffine systemsgeneralized Campbell-Baker-Hausdorff-Dynkin formula

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Algebraic methods (93B25) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Bases for Local Nonholonomic Motion Planning ⋮ Layer, Lie algebraic method of motion planning for nonholonomic systems ⋮ Impact of control representations on efficiency of local nonholonomic motion planning ⋮ Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

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