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math.OC2012★ 1 cited
Control of Nonholonomic Systems and Sub-Riemannian Geometry
Frederic Jean
Lectures given at the CIMPA School "Geometrie sous-riemannienne", Beirut, Lebanon, 2012
math.OC2012
A Global Steering Method for Nonholonomic Systems
Yacine Chitour, Frédéric Jean, Ruixing Long
In this paper, we present an iterative steering algorithm for nonholonomic systems (also called driftless control-affine systems) and we prove its global convergence under the sole…