Nonlinear Control based on Controllability Structure-Towards behavior from equilibrium

在这项工作中，我们提出了一种非线性系统的控制器设计方法，考虑到系统的可控性结构，基于数学分析的植物和控制目标。特别地，我们给出了李群和主纤维丛上左不变系统的一个实用控制器设计。我们还开发了实验系统的蛇形机器人和半球形移动的机器人，并检查所提出的方法的有效性。

In this work, we proposed a controller design approach for nonlinear systems which takes the system's controllability structure into account, based on mathematical analysis of the plant and the control objective. In particular, we presented a practical controller design for left-invariant systems on Lie groups and principal fiber bundles. We also developed experimental systems of snake-like robots and a hemispherical mobile robot, and examined the validity of the proposed approach.