Controllability of a Planar Body with Unilateral

  • ThrustersKevin M. LynchMechanical, Sheridan RoadEvanston
  • Published 1999


This note investigates the minimal number of unilateral thrusters required for diierent versions of nonlinear controllability of a planar rigid body. For one to three unilateral thrusters, we get a new property with each additional thruster: one thruster yields small-time accessibility on the body's state space TSE(2); two thrusters yield global… (More)


  • Presentations referencing similar topics