Skip to Main content Skip to Navigation
Conference papers

Control of Nonholonomic Systems and Sub-Riemannian Geometry

Abstract : 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.
Document type :
Conference papers
Complete list of metadata

Cited literature [30 references]  Display  Hide  Download
Contributor : Ali Fardoun Connect in order to contact the contributor
Submitted on : Thursday, September 20, 2012 - 4:15:40 PM
Last modification on : Wednesday, May 11, 2022 - 12:06:05 PM
Long-term archiving on: : Friday, December 21, 2012 - 3:50:53 AM


Explicit agreement for this submission


  • HAL Id : hal-00700932, version 2



Frédéric Jean. Control of Nonholonomic Systems and Sub-Riemannian Geometry. École de recherche CIMPA : Géométrie sous-riemannienne, Jan 2012, Beyrouth, Lebanon. ⟨hal-00700932v2⟩



Record views


Files downloads