Series expansions for the evolution of mechanical control systems

SIAM Journal on Control and Optimization

Volumn 40, Issue 1, 2002, Pages 166-190

  Bullo, Francesco ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

Control of mechanical systems; Nonlinear controllability; Series expansions

Indexed keywords

ALGORITHMS; COMBINATORIAL MATHEMATICS; CONTROLLABILITY; CONVERGENCE OF NUMERICAL METHODS; FUNCTIONS; MOTION CONTROL; ROBOTICS;

MECHANICAL CONTROL SYSTEMS;

TIME VARYING CONTROL SYSTEMS;

EID: 0036208264     PISSN: 03630129     EISSN: None     Source Type: Journal    
DOI: 10.1137/S0363012999364796     Document Type: Article

References (44)

1. Manifolds, tensor analysis, and applications, 2nd ed.
2. The exponential representation of flows and the chronological calculus
3. Local controllability and semigroups of diffeomorphisms
4. Mathematical methods of classical mechanics, 2nd ed.
5. Stable average motions of mechanical systems subject to periodic forcing
6. Graded approximations and controllability along a trajectory
7. Nonholonomic control systems on Riemannian manifolds
8. Vibrational control of mechanical systems
9. A series describing the evolution of mechanical control systems
10. Motion control for underactuated mechanical systems on Lie groups
11. Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
12. Integration of paths, geometric invariants, and a generalized Baker-Hausdorff formula
13. Fonctionelles causales non linéares et indeterminées non commutatives
14. Exact steering and stabilization of a PVTOL aircraft
15. Hankel operators and Gramians for nonlinear systems
16. Nilpotent and high-order approximations of vector field systems
17. High-order small-time local controllability
18. Geometric homogeneity and applications to stabilization
19. Nonlinear control and combinatorics of words
20. Noncommutative power series and formal Lie-algebraic techniques in nonlinear control theory
21. Stabilizing feedback laws for internally actuated multibody systems in-space
22. Function theory of several complex variables
23. A differential geometric approach to motion planning
24. Motion control of drift-free, left-invariant systems on Lie groups
25. Simple mechanical control systems with constraints
26. Configuration controllability of simple mechanical control systems
27. On the exponential solution of differential equations for a linear operator
28. Nonholonomic motion planning: Steering using sinusoids
29. Lie groups and algebras, with applications to physics, geometry and mechanics
30. Time-optimal control of manipulators
31. A sufficient condition for local controllability
32. A product expansion of the Chen series
33. A general theorem on local controllability
34. Lie groups, lie algebras, and their representations