Abstract
In this paper, extending our previous work on averaging on Lie groups, we present a third-order averaging theorem for periodically forced, drift-free, left-invariant systems on Lie groups and use it to demonstrate constructive controllability for a class of problems. Specifically, this class includes the case for which depth-two Lie brackets are needed for complete controllability. We illustrate this via an example on the group SE(3), appropriate as a model of kinematic control of an underwater vehicle.
Original language | English (US) |
---|---|
Pages (from-to) | 157-162 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 1 |
State | Published - 1994 |
Externally published | Yes |
Event | Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA Duration: Jun 29 1994 → Jul 1 1994 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering