A characterization of the Lie Algebra Rank Condition by transverse periodic FunctionsReport as inadecuate




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1 ICARE - Instrumentation, control and architecture of advanced robots CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : The Lie Algebra Rank Condition LARC plays a central role in nonlinear systems control theory. The present paper establishes that the satisfaction of this condition by a set of smooth control vector fields is equivalent to the existence of smooth transverse periodic functions. The proof here enclosed is constructive and provides an explicit method for the synthesis of such functions.

keyword : NONLINEAR SYSTEM HOMOGENEOUS SYSTEM LIE ALGEBRA





Author: Pascal Morin - Claude Samson

Source: https://hal.archives-ouvertes.fr/



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