Paper Abstract and Keywords |
Presentation |
2006-07-04 11:45
Geometry and control of nonholonomic systems with first order Lie brackets Takateru Urakubo (Kobe Univ.), Kazuo Tsuchiya (Kyoto Univ.), Yukio Tada (Kobe Univ.) |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This paper deals with the problem of controlling nonholonomic systems called first order systems that are controllable using the input vector fields and the first level of Lie brackets between them. We investigate the geometry of the systems and provide an interpretation of our feedback controller that has been previously proposed. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
nonholonomic system / controllability / feedback control / / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 106, no. 136, NLP2006-39, pp. 31-36, July 2006. |
Paper # |
NLP2006-39 |
Date of Issue |
2006-06-27 (NLP) |
ISSN |
Print edition: ISSN 0913-5685 |
Download PDF |
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Conference Information |
Committee |
NLP |
Conference Date |
2006-07-03 - 2006-07-04 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Kanazawa Univ. |
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(See Japanese page) |
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Paper Information |
Registration To |
NLP |
Conference Code |
2006-07-NLP |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Geometry and control of nonholonomic systems with first order Lie brackets |
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nonholonomic system |
Keyword(2) |
controllability |
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feedback control |
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1st Author's Name |
Takateru Urakubo |
1st Author's Affiliation |
Kobe University (Kobe Univ.) |
2nd Author's Name |
Kazuo Tsuchiya |
2nd Author's Affiliation |
Kyoto University (Kyoto Univ.) |
3rd Author's Name |
Yukio Tada |
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Kobe University (Kobe Univ.) |
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Speaker |
Author-1 |
Date Time |
2006-07-04 11:45:00 |
Presentation Time |
25 minutes |
Registration for |
NLP |
Paper # |
NLP2006-39 |
Volume (vol) |
vol.106 |
Number (no) |
no.136 |
Page |
pp.31-36 |
#Pages |
6 |
Date of Issue |
2006-06-27 (NLP) |