Abstract
This paper proposes a generally applicable technique for the control of analytic systems with no drift. The method is based on the generation of “nonsingular loops” that allow linearized controllability. One can then implement Newton and/or gradient searches in the search for a control. A general convergence theorem is proved.
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Sontag, E.D. (1998). A General Approach to Path Planning for Systems Without Drift. In: Baillieul, J., Sastry, S.S., Sussmann, H.J. (eds) Essays on Mathematical Robotics. The IMA Volumes in Mathematics and its Applications, vol 104. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-1710-7_6
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DOI: https://doi.org/10.1007/978-1-4612-1710-7_6
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