Large-time local controllability via homogeneous approximations

被引:7
作者
Hermes, H
机构
[1] Department of Mathematics, University of Colorado, Boulder
关键词
homogeneous approximations; local controllability; Lie algebras;
D O I
10.1137/S0363012994268059
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
If all points in a neighborhood of a rest solution of an n-dimensional, affine control system can be attained in some sufficiently large time t(1) > 0, we say that the system is large-time locally controllable at the rest solution. Sufficient conditions for large-time local controllability are given in terms of small-time local controllability of homogeneous approximating systems. The major result, Theorem 3, is a geometric test for large time local controllability in terms of the (coordinate-free) structure of Lie products of the vector fields which define the system, evaluated at the rest solution. Large-time local controllability has implications for the problem of the existence of an asymptotically stabilizing feedback control.
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页码:1291 / 1299
页数:9
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