On the reachable set of nonlinear control systems with a nilpotent Lie algebra

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Abstract

We consider control systems that are affine in the control and whose vector fields generate a nilpotent Lie algebra. Analysis of such systems can be reduced to the analysis of the associated canonical Hall-Sussmann (HS) system. We derive several new results revealing the elegant Lie-algebraic structure of the HS system. We also prove that local, or small-time, nice reachability results imply their global counterparts for nilpotent control systems.

Original languageEnglish
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4261-4267
Number of pages7
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: 2 Jul 20075 Jul 2007

Publication series

Name2007 European Control Conference, ECC 2007

Conference

Conference2007 9th European Control Conference, ECC 2007
Country/TerritoryGreece
CityKos
Period2/07/075/07/07

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