论文标题
带有漂移的常规仿射系统的全球可控性标准和运动计划
Global Controllability Criteria and Motion Planning of Regular Affine Systems With Drifts
论文作者
论文摘要
在本文中，我们为仿射非线性控制系统的全球可控性提供了条件，并在欧几里得空间上漂移。在规律性的假设下，该条件在Codimension-1和Condimension-2病例中是必要的，并且足以适用于在轻度限制下更高的编码系统。然后，我们研究了Codimension-1仿射系统的运动计划问题，并通过同型连续方法为某些漂移系统的全球升降机存在以控制曲线。
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and codimension-2 cases, and holds for systems of higher codimensions under mild restrictions. We then investigate motion planning problems for codimension-1 affine systems, and give proof of the global existence of the lift to control curves for certain drifted systems using the homotopy continuation method.
