Local Geometric Control of a Certain Mechanism with the Growth Vector (4,7)

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Authors	HRDINA Jaroslav ZALABOVÁ Lenka
Year of publication	2020
Type	Article in Periodical
Magazine / Source	Journal of Dynamical and Control Systems
MU Faculty or unit	Faculty of Science
Citation
Web	https://doi.org/10.1007/s10883-019-09460-7
Doi	http://dx.doi.org/10.1007/s10883-019-09460-7
Keywords	Local control; Sub-Riemannian geometry; Pontryagin's maximum principle; Nilpotent Lie group
Description	We study local control of a mechanism with the growth vector (4,7). We study controllability and extremal trajectories of the nilpotent approximation as an example of the control theory on a Lie group. We provide solutions to the system and show examples of local extremal trajectories.
Related projects:	Invariantní diferenciální operátory a jejich aplikace v geometrickém modelování a v teorii optimálního řízení