Search

Skip to main content Accessibility help

Home
Search

Only show content I have access to (0)

Articles (1)

Over 3 years (1)

From year:

To year:

Apply

Mathematics (1)

control lie algebra / multibody mobile robot / nonholonomic systems.

ESAIM: Control, Optimisation and Calculus of Variations (1)

View selected items
Save to my bookmarks
Export citations
Download PDF (zip)
Save to Kindle
Save to Dropbox
Save to Google Drive
Save content to
To save content items to your account, please confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account. Find out more about saving content to .

To save content items to your Kindle, first ensure [email protected] is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about saving to your Kindle.

Note you can select to save to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be saved to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Please be advised that item(s) you selected are not available.
You are about to save
Your Kindle email address

Please provide your Kindle email.

@free.kindle.com @kindle.com (service fees apply)

By using this service, you agree that you will only keep content for personal use, and will not openly distribute them via Dropbox, Google Drive or other file sharing services

1 results

The car with N Trailers : characterization of the singular configurations
Frédéric Jean
Journal:

ESAIM: Control, Optimisation and Calculus of Variations / Volume 1 / 1996

Published online by Cambridge University Press:

15 August 2002, pp. 241-266

Print publication:

1996
- Article
- - Get access
    
    Check if you have access via personal or institutional login
    
    Log in Register
- Export citation
In this paper we study the problem of the car with N trailers. It was proved in previous works ([9], [12]) that when each trailer is perpendicular with the previous one the degree of nonholonomy isFn+3 (the (n+3)-th term of the Fibonacci's sequence) and that when no two consecutive trailers are perpendicular this degree is n+2. We compute here by induction the degree of non holonomyin every state and obtain a partition of the singular set by this degree of non-holonomy. We give also for each area a set of vector fields in the Lie Algebra of the control system wich makes a basis of the tangent space.