Now showing items 1-10 of 45
Controllability of a hovercraft model (and two general results)
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
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
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
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
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
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
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
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
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.