Geometric Nonlinear Control

  • Shankar Sastry
Part of the Interdisciplinary Applied Mathematics book series (IAM, volume 10)

Abstract

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.

Keywords

Vector Field Nonholonomic System Nonlinear Control System Optimal Input Zero Dynamic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1999

Authors and Affiliations

  • Shankar Sastry
    • 1
  1. 1.Department of Electrical Engineering and Computer ScienceUniversity of California, BerkeleyBerkeleyUSA

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