On Eliminating the Drift from Affine Control Systems
In this paper the problem of eliminating the drift from affine control systems is discussed. We investigate the problem from two perspectives: the state extension system with particular form and the quotient driftless system. We give sufficient and necessary conditions on the affine control system such that it admits the above two structures respectively. Relations between the conditions are discussed. Some global results are given.
Affine control system drift driftless motion planning
XIA Qianqian GENG Zhiyong
Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
789-792
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）