hal-00700932
https://confremo.hal.science/hal-00700932
https://confremo.hal.science/hal-00700932v2/document
https://confremo.hal.science/hal-00700932v2/file/CIMPABeyrouth12.Jean2.pdf
[CONFREMO] Conférence des Recteurs et Présidents de la Région du Moyen-Orient
[ENSTA] ENSTA Paris
[INSMI] CNRS-INSMI - INstitut des Sciences Mathématiques et de leurs Interactions
[PARISTECH] ParisTech
[OPENAIRE] OpenAIRE
[SADCO] Sensitivity Analysis for Deterministic Controller Design (SADCO)
[UMA_ENSTA] Unité de Mathématiques Appliquées (UMA)
Control of Nonholonomic Systems and Sub-Riemannian Geometry
Jean, Frédéric
[MATH.MATH-DG] Mathematics [math]/Differential Geometry [math.DG]
COMM
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their link with the metric tangent structure in sub-Riemannian geometry.
2012-01-30
2012-09-20
en
École de recherche CIMPA : Géométrie sous-riemannienne
Beyrouth, Lebanon