Controllability of a planar body with unilateral thrusters

Authors
Lynch, KM
Citation
Km. Lynch, Controllability of a planar body with unilateral thrusters, IEEE AUTO C, 44(6), 1999, pp. 1206-1211
Citations number
10
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
44
Issue
6
Year of publication
1999
Pages
1206 - 1211
Database
ISI
SICI code
0018-9286(199906)44:6<1206:COAPBW>2.0.ZU;2-6
Abstract
This paper investigates the minimal number of unilateral thrusters required for different versions of nonlinear controllability of a planar rigid body . For one to three unilateral thrusters, one gets a new property with each additional thruster: one thruster suffices for small-time accessibility on the body's state space TSE(2); two thrusters suffice for global controllabi lity on TSE(2); and three thrusters suffice for small-time local controllab ility at zero velocity states.