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Paper Abstract and Keywords
Presentation 2007-12-19 14:50
Control of systems on Lie groups and principal bundles
Masato Ishikawa (Kyoto Univ.) NLP2007-112
Abstract (in Japanese) (See Japanese page) 
(in English) This paper considers control problem for a class of nonholonomic symmetric affine systems. These systems are difficult to control in general not only due to absence of the drift vector-field which spoils stabilizability by continuous state feedback, but also because the strong nonlinearity of the input vector-fields. In this paper, we focus on the fact that there exist configurational symmetry in many cases, represented by a Lie group acting on the state space (principal fiber bundle). Based on the invariance under the left action, a reduction method which simplifies the system dynamics is presented.
Keyword (in Japanese) (See Japanese page) 
(in English) noholonomic system / left-invariant system / nonlinear control / mobile robot / / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 399, NLP2007-112, pp. 23-26, Dec. 2007.
Paper # NLP2007-112 
Date of Issue 2007-12-12 (NLP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NLP  
Conference Date 2007-12-19 - 2007-12-20 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
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Paper Information
Registration To NLP 
Conference Code 2007-12-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Control of systems on Lie groups and principal bundles 
Sub Title (in English)  
Keyword(1) noholonomic system  
Keyword(2) left-invariant system  
Keyword(3) nonlinear control  
Keyword(4) mobile robot  
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1st Author's Name Masato Ishikawa  
1st Author's Affiliation Kyoto University (Kyoto Univ.)
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Speaker Author-1 
Date Time 2007-12-19 14:50:00 
Presentation Time 25 minutes 
Registration for NLP 
Paper # NLP2007-112 
Volume (vol) vol.107 
Number (no) no.399 
Page pp.23-26 
#Pages 4 
Date of Issue 2007-12-12 (NLP) 

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