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.

引用

页码：369 / 390

页数：21

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