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Computation of mixed Lie derivatives in nonlinear control
Author(s) -
Röbenack Klaus
Publication year - 2010
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201010306
Subject(s) - symbolic computation , computation , automatic differentiation , nonlinear system , symbolic numeric computation , computer science , software , algebra over a field , lie algebra , order (exchange) , theoretical computer science , computational science , algorithm , mathematics , pure mathematics , programming language , physics , mathematical analysis , quantum mechanics , finance , economics
Several algorithms in nonlinear control require Lie derivatives. The symbolic computation using computer algebra software is straightforward. However, the applicability of symbolic computation in nonlinear control is limited due to a considerable increase of the sizes of higher order derivatives. This problem can be circumvented using an alternative computation technique for derivatives called algorithmic differentiation. We extend existing approaches to calculate mixed Lie derivaties. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)