- Tytuł:
- Small time local controllability of driftless nonholonomic systems in a task-space
- Autorzy:
-
Duleba, Ignacy
Mielczarek, Arkadiusz - Powiązania:
- https://bibliotekanauki.pl/articles/229672.pdf
- Data publikacji:
- 2019
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
nonholonomic system
small time local controllability
configuration space
task-space - Opis:
- In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implcations. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages.
- Źródło:
-
Archives of Control Sciences; 2019, 29, 3; 423-436
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł