Non-holonomic Kinematics and the Role of Elliptic Functions in Constructive Controllability

摘要: Beginning around 1963 with the paper of Hermann [1] there began to be developed a theory controllability that included nonlinear effects in mathematically natural way. By early 1970’s this work was full swing, several centers activity throughout world. In addition study thermodynamic paths, which were inspiration for earlier Caratheodory and Chow, number other physical problems studied using these techniques. Among set questions concerning control rigid bodies. Some are mentioned reference [2] others, including development necessary sufficient conditions Euler equations body fixed, angular velocity space, discussed [3] [4] [5]. One could characterize bulk as being nonconstructive sense authors gave existence steered state from one point another but did not give procedure computing such control.