11 search results - page 1 / 3 » Singular Trajectories of Control-Affine Systems |
SIAMCO
2008
13 years 4 months ago
2008
Abstract. When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specif...
CDC
2010
IEEE
12 years 11 months ago
2010
IEEE
We analyze in this paper controllability aspects for a 4-dimensional quantum system. The "strong regularity" (cf. [1]) has been proven to be sufficient condition for glob...
AUTOMATICA
2005
13 years 4 months ago
2005
Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. ...
IJRR
2000
13 years 4 months ago
2000
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of w...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. An established approach to ensure this ...