Abstract
We explain a general approximation technique for nonholonomic systems by discussing in detail a special example, chosen so as to illustrate some of the technical aspects of the general construction. The example considered is that of an extension of a two-input system obtained by adding a single bracket of degree five. This bracket is sufficiently complicated to exhibit some phenomena, such as multiplicity, that do not occur for brackets of lower degree.
This author’s work was supported in part by the National Science Foundation under NSF Grant DMS-8902994.
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Sussmann, H.J., Liu, W. (1993). Lie Bracket Extensions and Averaging: The Single-Bracket Case. In: Li, Z., Canny, J.F. (eds) Nonholonomic Motion Planning. The Springer International Series in Engineering and Computer Science, vol 192. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3176-0_4
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DOI: https://doi.org/10.1007/978-1-4615-3176-0_4
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