Abstract
This paper contributes to the theory of approximations of continuous-time control/uncertain systems by discrete-time ones. Discrete approximations of higher than first order accuracy are known for affine control systems only in the case of commutative controlled vector fields. The novelty in this paper is that constructive second order discrete approximations are obtained in the case of two non-commutative vector fields. An explicit parameterization of the reachable set of the Brockett non-holonomic integrator is a key auxiliary tool. The approach is not limited to the present deterministic framework and may be extended to stochastic differential equations, where similar difficulties appear in the non-commutative case.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Agrachev, A., Gamkrelidze, R.: The exponential representation of flows and the chronological calculus. Math. USSR Sbornik, N. Ser. 107, 467–532 (1978)
Brockett, R.W.: Asymptotic stability and feedback stabilization. Differential geometric control theory. In: Proc. Conf., Mich. Technol. Univ., Prog. Math., vol. 27, pp. 181–191 (1982)
Dontchev, A., Farkhi, E.: Error estimates for discretized differential inclusion. Computing 41(4), 349–358 (1989)
Ferretti, R.: High-order approximations of linear control systems via Runge-Kutta schemes. Computing 58, 351–364 (1997)
Hermes, H.: Control systems wuth decomposable Lie lgebras. Special issue dedicated to J. P. LaSalle. J. Differential Equations 44(2), 166–187 (1982)
Kawski, M., Sussmann, H.J.: Noncommutative power series and formal Lie-algebraic techniques in nonlinear control theory. In: Helmke, U., Prätzel-Wolters, D., Zerz, E. (eds.) Operators, Systems, and Linear Algebra, pp. 111–128. Teubner (1997)
Grüne, L., Kloeden, P.E.: Higher order numerical schemes for affinely controlled nonlinear systems. Numer. Math. 89, 669–690 (2001)
Kloeden, E., Platen, E.: Numerical Solutions to Stochastic Differential Equations. Springer, Heidelberg (1992) (third revised printing, 1999)
Pietrus, A., Veliov, V.M.: On the Discretization of Switched Linear Systems. Systems & Control Letters 58, 395–399 (2009)
Sussmann, H.: A product expansion of the Chen series. In: Byrnes, C.I., Lindquist, A. (eds.) Theory and Applications of Nonlinear Control Systems, pp. 323–335. Elsevier, North-Holland, Amsterdam (1986)
Sussmann, H.: A general theorem on local controllability. SIAM Journal on Control and Optimization 25, 158–194 (1987)
Vdovin, S.A., Taras’ev, A.M., Ushakov, V.N.: Construction of an attainability set for the Brockett integrator. Prikl. Mat. Mekh. 68(5), 707–724 (2004) (in Russian); Translation in J. Appl. Math. Mech. 68(5), 631–646 (2004)
Veliov, V.M.: Best Approximations of Control/Uncertain Differential Systems by Means of Discrete-Time Systems. WP–91–45, International Institute for Applied Systems Analysis, Laxenburg, Austria (1991)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Krastanov, M.I., Veliov, V.M. (2010). High-Order Approximations to Nonholonomic Affine Control Systems. In: Lirkov, I., Margenov, S., Waśniewski, J. (eds) Large-Scale Scientific Computing. LSSC 2009. Lecture Notes in Computer Science, vol 5910. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-12535-5_34
Download citation
DOI: https://doi.org/10.1007/978-3-642-12535-5_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-12534-8
Online ISBN: 978-3-642-12535-5
eBook Packages: Computer ScienceComputer Science (R0)