Nonhomogeneous Nilpotent Approximations for Nonholonomic Systems With Singularities

DOI10.1109/TAC.2003.822872zbMATH Open1365.93035OpenAlexW2114484121MaRDI QIDQ5273690FDOQ5273690

Authors Marilena Vendittelli, G. Oriolo, J.-P. Laumond, Frédéric Jean

Publication date 12 July 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2003.822872

Mathematics Subject Classification ID

System identification (93B30)

Cited in

(10)

• Normalization of homogeneous approximations of symmetric affine control systems with two controls
• Model predictive control of non-holonomic systems: beyond differential-drive vehicles
• Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
• Control of a mobile robot with a trailer based on nilpotent approximation
• On inhomogeneous nonholonomic Bilimovich system
• The Laplace-Beltrami operator in almost-Riemannian geometry
• Quantum confinement for the curvature Laplacian \(- \Delta + cK\) on 2D-almost-Riemannian manifolds
• Metric geometry of nonregular weighted Carnot-Carathéodory spaces
• Local properties of almost-Riemannian structures in dimension 3
• Non-minimum-phase property of \(N\)-trailer kinematics resulting from off-axle interconnections

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