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Separating the Drift from Affine Control Systems via Feedbacks
Author(s) -
Xia Qianqian,
Geng Zhiyong
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.821
Subject(s) - affine transformation , control theory (sociology) , property (philosophy) , state (computer science) , transformation (genetics) , control (management) , coordinate system , mathematics , affine combination , computer science , algorithm , pure mathematics , artificial intelligence , geometry , philosophy , biochemistry , chemistry , epistemology , gene
This paper investigates the use of state feedbacks to transform an affine control system into a special form with a driftless property. First, we consider the regular dynamic state feedback for an affine control system. Both local and global sufficient and necessary conditions are given on the affine control system such that it admits the driftless property. An algorithm is provided to compute explicitly the desired coordinate transformation. Then, the nonregular cases are studied. Some necessary conditions, as well as sufficient conditions, for nonregular feedback are presented. We illustrate with some examples.