Frédéric Jean's Control of Nonholonomic Systems: from Sub-Riemannian PDF

By Frédéric Jean

ISBN-10: 3319086898

ISBN-13: 9783319086897

Nonholonomic platforms are regulate structures which rely linearly at the regulate. Their underlying geometry is the sub-Riemannian geometry, which performs for those structures an identical function as Euclidean geometry does for linear structures. particularly the standard notions of approximations on the first order, which are crucial for keep watch over reasons, need to be outlined when it comes to this geometry. the purpose of those notes is to give those notions of approximation and their software to the movement making plans challenge for nonholonomic systems.

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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning (SpringerBriefs in Mathematics) by Frédéric Jean

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