Geometric Nonlinear Control
In this chapter, we give the reader a brief introduction to controllability and observability of nonlinear systems. We discuss topics of constructive controllability for nonlinear systems, that is, algorithms for steering the system from a specified initial state to a specified final state. This topic has been very much at the forefront of research in nonlinear systems recently because of the interest in non-holonomic systems. We give a reader of the power of differential geometric methods for nonlinear control when we discuss input-output expansions for nonlinear systems and disturbance decoupling problems using appropriately defined invariant distributions.
KeywordsVector Field Nonholonomic System Nonlinear Control System Optimal Input Zero Dynamic
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