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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning



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Éditeur :

Springer


Collection :

SpringerBriefs in Mathematics

Paru le : 2014-07-17



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Description
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Pages
104 pages
Collection
SpringerBriefs in Mathematics
Parution
2014-07-17
Marque
Springer
EAN papier
9783319086897
EAN EPUB
9783319086903
Informations sur l'ebook
Nombre pages copiables
1
Nombre pages imprimables
10
Taille du fichier
2703 Ko
Ce livre est accessible aux handicaps Voir les informations sur l'accessibilité
Prix
73,84 €

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