IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nilpotent normal form for non-chained driftless systems: Characterization of the cross-chained form

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Ishikawa, M. ; Kuroiwa, T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 4,390 - 4,395
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5400018
Regular:

In this paper, we deal with a class of nonholonomic driftless systems whose controllability Lie algebra is structurally different from that of chained form systems. We propose cross-chained... View More

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