15.4 Nonholonomic System Theory

This section gives some precision to the term *nonholonomic*,
which was used loosely in Chapters 13 and 14.
Furthermore, small-time controllability (STLC), which was defined in Section 15.1.3,
is addressed. The presentation given here barely scratches the
surface of this subject, which involves deep mathematical principles
from differential geometry, algebra, control theory, and mechanics.
The intention is to entice the reader to pursue further study of these
topics; see the suggested literature at the end of the chapter.

- 15.4.1 Control-Affine Systems
- 15.4.2 Determining Whether a System Is Nonholonomic
- 15.4.2.1 Completely integrable or nonholonomic?
- 15.4.2.2 Distributions
- 15.4.2.3 Lie brackets
- 15.4.2.4 The Frobenius Theorem

- 15.4.3 Determining Controllability

Steven M LaValle 2020-08-14