Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning (SpringerBriefs in Mathematics)
暫譯: 非完整系統的控制:從子黎曼幾何到運動規劃 (SpringerBriefs in Mathematics)

Frédéric Jean

  • 出版商: Springer
  • 出版日期: 2014-07-30
  • 售價: $3,180
  • 貴賓價: 9.5$3,021
  • 語言: 英文
  • 頁數: 116
  • 裝訂: Paperback
  • ISBN: 3319086898
  • ISBN-13: 9783319086897
  • 海外代購書籍(需單獨結帳)

相關主題

商品描述

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

商品描述(中文翻譯)

非完整系統是控制系統,其控制依賴於線性關係。它們的基本幾何結構是次黎曼幾何,這對於這些系統的作用類似於歐幾里得幾何對於線性系統的作用。特別是,對於控制目的至關重要的第一階近似的通常概念,必須根據這種幾何來定義。這些筆記的目的是介紹這些近似概念及其在非完整系統運動規劃問題中的應用。