Local controllability of trident snake robot based on sub-Riemannian extremals

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Date
2017-05-24
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Mark
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Universit`a del Salento
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Abstract
To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism.
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Note di Matematica. 2017, vol. 37, issue suppl. 1, p. 93-102.
http://siba-ese.unisalento.it/index.php/notemat/article/view/17176
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en
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Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 Unported
http://creativecommons.org/licenses/by-nc-nd/3.0/
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