| Presentation | 2006-07-04 Geometry and Control of Nonholonomic Systems with First Order Lie Brackets Takateru URAKUBO, Kazuo TSUCHIYA, Yukio TADA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | nonholonomic system / controllability / feedback control |
| Paper # | NLP2006-39 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2006/6/27(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| 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 |
| Sub Title (in English) | |
| Keyword(1) | nonholonomic system |
| Keyword(2) | controllability |
| Keyword(3) | feedback control |
| 1st Author's Name | Takateru URAKUBO |
| 1st Author's Affiliation | Faculty of Engineering, Kobe University() |
| 2nd Author's Name | Kazuo TSUCHIYA |
| 2nd Author's Affiliation | Graduate School of Engineering, Kyoto University |
| 3rd Author's Name | Yukio TADA |
| 3rd Author's Affiliation | Faculty of Engineering, Kobe University |
| Date | 2006-07-04 |
| Paper # | NLP2006-39 |
| Volume (vol) | vol.106 |
| Number (no) | 136 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |