Title: Decompositions of control systems on manifolds with an affine connection (12 pages)
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: Systems & Control Letters 31(4), pages 199-205, 1997
Journal version: Download

Original manuscript: 1996/04/06
Manuscript last revised: 1998/08/22

In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this decomposition, we are able to easily prove some special results for this class of control systems. Examples illustrate the theory.

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Last Updated: Thu Oct 11 08:22:09 2018

Andrew D. Lewis (andrew at mast.queensu.ca)