A SUFFICIENT CONDITION FOR SMALL-TIME LOCAL CONTROLLABILITY

被引：11
|
作者：
Krastanov, Mikhail Ivanov [1 ]
机构：
[1] Bulgarian Acad Sci, Inst Math & Informat, BU-1113 Sofia, Bulgaria
来源：
SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2009年 / 48卷 / 04期
关键词：
small-time local controllability; smooth control systems; high-order control variations; CONTROL-SYSTEMS; LINEAR-SYSTEMS; NONLINEAR-SYSTEMS; LIE-ALGEBRAS; APPROXIMATION; THEOREM;
D O I：
10.1137/070707117
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A basic idea of the so-called geometrical approach is to construct "control variations." Heuristically, if one can construct control variations in all possible directions, then the considered control system is small-time locally controllable. The main result of the present paper is a sufficient condition for obtaining high-order control variations. The proof is based on a general Lie series formalism. The relation between the main result and two well-known sufficient controllability conditions is explained. Two illustrative examples are also presented.
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页码：2296 / 2322
页数：27
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