By Topic

Reduction and nonlinear controllability of symmetric distributed systems with robotic applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
McMickell, M.B. ; Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA ; Goodwine, B.

The purpose of this paper is to develop methods to reduce the complexity of nonlinear distributed systems by using symmetry properties within the system. A method for contracting and expanding controllable nonlinear systems is developed which maintains the controllability of the original system. In fact, it is shown that an entire equivalence class of symmetric nonlinear distributed control systems can be determined by checking the controllability of only one of its members. A group of mobile robots is used to demonstrate the utility of methods presented

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: