论文标题
非色素集成剂的几何和控制：电动力学类比
Geometry and control of the nonholonomic integrator: An electrodynamics analogy
论文作者
论文摘要
我们考虑了经典非体积集成剂的一些概括，并提供了一种表征这些系统可控性的几何方法。我们使用Stokes的定理和复杂分析的结果来获得可控性的必要条件。此外，我们表明，在这些系统上定义的某些最小能量最佳控制问题的最佳轨迹可以通过电磁场中带电粒子的轨迹来识别。
We consider some generalizations of the classical nonholonomic integrator and give a geometric approach to characterize controllability for these systems. We use Stokes' theorem and results from complex analysis to obtain necessary and sufficient conditions for controllability. Furthermore, we show that optimal trajectories of certain minimum energy optimal control problems defined on these systems can be identified with the trajectory of a charged particle in an electromagnetic field.
