## Search

Now showing items 1-10 of 45

#### Controllability of a hovercraft model (and two general results)

(2003)

Modelling and controllability studies of a hovercraft system are undertaken.
The system studied is a little more complicated than some in the literature
in that the inertial dynamics of the thrust fan are taken into ...

#### Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples

(2001)

This paper introduces the novel notion of kinematic reductions for mechanical
systems and studies their controllability properties. We focus on the class
of simple mechanical control systems with constraints and model ...

#### Geometric local controllability: second-order conditions

(2002)

In a geometric point of view, a nonlinear control system, affine in the
controls, is thought of as an affine subbundle of the tangent bundle of the
state space. In deriving conditions for local controllability from ...

#### The geometry of the maximum principle for affine connection control systems

(2000)

The maximum principle of Pontryagin is applied to systems where the drift
vector field is the geodesic spray corresponding to an affine connection.
The result is a second-order differential equation whose right-hand side ...

#### High-order variations for families of vector fields

(2002)

Sufficient conditions involving Lie brackets of arbitrarily high-order are
obtained for local controllability of families of vector fields. After
providing a general framework for the generation of high-order ...

#### Geometric sliding mode control: The linear and linearised theory

(2002)

The idea of sliding mode control for stabilisation is investigated to
determine its geometric features. A geometric definition is provided for a
sliding submanifold, and for various properties of a sliding submanifold.
Sliding ...

#### Jacobian linearisation in a geometric setting

(IEEE, 2003)

Linearisation is a common technique in control applications, putting useful
analysis and design methodologies at the disposal of the control engineer.
In this paper, linearisation is studied from a differential ...

#### Low-order controllability and kinematic reductions for affine connection control systems

(2002)

Controllability and kinematic modeling notions are investigated for a class
of mechanical control systems. First, low-order controllability results are
given for a class of mechanical control systems. Second, a ...

#### Optimal control for a simplified hovercraft model

(2000)

Time-optimal and force-optimal extremals are investigated for a planar rigid
body with a single variable direction thruster. A complete and explicit
characterisation of the singular extremals is possible for this problem.