Publication details

Local Geometric Control of a Certain Mechanism with the Growth Vector (4,7)

Authors

HRDINA Jaroslav ZALABOVÁ Lenka

Year of publication 2020
Type Article in Periodical
Magazine / Source Journal of Dynamical and Control Systems
MU Faculty or unit

Faculty of Science

Citation
Web https://doi.org/10.1007/s10883-019-09460-7
Doi http://dx.doi.org/10.1007/s10883-019-09460-7
Keywords Local control; Sub-Riemannian geometry; Pontryagin's maximum principle; Nilpotent Lie group
Description We study local control of a mechanism with the growth vector (4,7). We study controllability and extremal trajectories of the nilpotent approximation as an example of the control theory on a Lie group. We provide solutions to the system and show examples of local extremal trajectories.
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