Local controllability of control-affine systems with quadratic drift and constant control-input vector fields
Loading...
Authors
Aguilar, Cesar O.
Subjects
Advisors
Date of Issue
2012
Date
Publisher
Language
Abstract
In this paper we study the small-time local controllability (STLC) property of polynomial control-affine systems whose drift vector field is a 2-homogeneous polynomial vector field and whose control-input vector fields are constant. Such systems arise in the study of controllability of mechanical control systems. Using control variations and rooted trees, we obtain a combinatorial expression for the Taylor series coefficients of a composition of flows of vector fields and use it to derive a high-order sufficient condition for STLC for these systems. The resulting condition is stated in terms of the image of the control-input subspace under the drift vector field and is therefore invariant under (linear) feedback transformations.
Type
Article
Description
Series/Report No
Department
Applied Mathematics
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.