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- In C Byrnes, A Lindquist, H J Sussmann, W Liu
- 1993

Limits of highly oscillatory controls and the approximation of general paths by admissible trajectories.

We propose a deenition of \regular synthesis," more general than those suggested by other authors such as Boltyanskii and Brunovsk y, and an even more general notion of \regular presynthesis." We give a complete proof of the corresponding suuciency theorem, a slightly weaker version of which had been stated in an earlier article, with only a rough outline… (More)

|{ We show that, for feedforward nets with a single hidden layer, a single output node, and a \transfer function" Tanhs, the net is uniquely determined by its input-output map, up to an obvious nite group of symmetries (permutations of the hidden nodes, and changing the sign of all the weights associated to a particular hidden node), provided that the net… (More)

- G Laaerriere, H J Sussmann
- 1991

We propose a general strategy for solving the motion planning problem for real analytic, controllable systems without drift. The procedure starts by computing a control that steers the given initial point to the desired target point for an extended system, in which a number of Lie brackets of the system vector elds are added to the right-hand side. The main… (More)

- H J Sussmann
- 1993

- H J Sussmann
- 1995

This paper studies time-optimal control questions for a certain class of nonlinear systems. This class includes a large number of mechanical systems, in particular, rigid robotic manipulators with torque constraints. As nonlinear systems, these systems have many properties that are false for generic systems of the same dimensions.

- H J Sussmann
- 2007