Global Controllability Criteria and Motion Planning of Regular Affine Systems With Drifts

被引：0
|
作者：
Ji, Zhengping [1 ,2 ]
Zhang, Xiao [3 ,4 ]
Cheng, Daizhan [4 ]
机构：
[1] Univ Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
[2] Univ Chinese Acad Sci, Sch Math Sci, Beijing 100190, Peoples R China
[3] Chinese Acad Sci, Acad Math & Syst Sci, Natl Ctr Math & Interdisciplinary Sci, Beijing 100190, Peoples R China
[4] Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
来源：
IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Global controllability; geometric control theory; affine nonlinear systems; motion planning; homotopy continuation method;
D O I：
10.1109/LCSYS.2023.3287949
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and codimension-2 cases, and holds for systems of higher codimensions under mild restrictions. We then investigate motion planning problems for codimension-1 affine systems, and give proof of the global existence of the lift to control curves for certain drifted systems using the homotopy continuation method.
引用
收藏
页码：2581 / 2586
页数：6
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