Download e-book for kindle: Control of Nonholonomic Systems: from Sub-Riemannian by Frédéric Jean

By Frédéric Jean

Nonholonomic platforms are keep an eye on platforms which rely linearly at the keep an eye on. Their underlying geometry is the sub-Riemannian geometry, which performs for those structures an identical function as Euclidean geometry does for linear structures. particularly the standard notions of approximations on the first order, which are crucial for keep watch over reasons, must be outlined when it comes to this geometry. the purpose of those notes is to give those notions of approximation and their program to the movement making plans challenge for nonholonomic systems.

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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning (SpringerBriefs in Mathematics) by Frédéric Jean


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