Conjugate points in nilpotent sub-riemannian problem on the Engel group

被引：0
|
作者：
Ardentov A.A. [1 ]
Sachkov Y.L. [1 ]
机构：
[1] Program Systems Institute of RAS, Pereslavl-Zalessky
来源：
Journal of Mathematical Sciences | 2013年 / 195卷 / 3期
基金：
俄罗斯基础研究基金会;
关键词：
Optimal Control Problem; Comparison Function; Nonholonomic System; Conjugate Point; Extremal Trajectory;
D O I：
10.1007/s10958-013-1584-2
中图分类号：
学科分类号：
摘要：
The left-invariant sub-Riemannian problem on the Engel group is considered. This problem is very important as nilpotent approximation of nonholonomic systems in four-dimensional space with two-dimensional control, for instance of a system which describes motion of mobile robot with a trailer. We study local optimality of extremal trajectories and estimate conjugate time in this article. © 2013 Springer Science+Business Media New York.
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页码：369 / 390
页数：21
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