Nilpotent Normal Form for Non-Chained Driftless Systems: Characterization of the Cross-Chained Form

被引：1

作者：

Ishikawa, Masato ^{[1
]}

Kuroiwa, Takuto ^{[1
]}

机构：

[1] Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto 6110011, Japan

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

TRAJECTORY GENERATION;

D O I：

10.1109/CDC.2009.5400018

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 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 systems as a class of these system. By extending the idea of Goursat's normal form used in the case of chained systems, we introduce a nilpotent normal form for cross-chained systems. We then give a necessary and sufficient condition, with a detailed proof, for the existence of diffeomorphic coordinate and input transformation to obtain the normal form.

引用

页码：4390 / 4395

页数：6

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