Publication: Computation of mixed Lie derivatives in nonlinear control
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Computation of mixed Lie derivatives in nonlinear control

- Article in a journal -
 

Area
Control

Author(s)
K. Röbenack

Published in
Proc. in Applied Mathematics and Mechanics

Year
2010

Abstract
Several algorithms in nonlinear control require Lie derivatives. The symbolic computation using computer algebra software is straightforward. However, the applicability of symbolic computation in nonlinear control is limited due to a considerable increase of the sizes of higher order derivatives. This problem can be circumvented using an alternative computation technique for derivatives called algorithmic differentiation. We extend existing approaches to calculate mixed Lie derivaties.

AD Tools
ADOL-C

AD Theory and Techniques
Taylor Arithmetic

BibTeX
@ARTICLE{
         Robenack2010Com,
       author = "K. R{\"o}benack",
       title = "Computation of mixed Lie derivatives in nonlinear control",
       journal = "Proc. in Applied Mathematics and Mechanics",
       year = "2010",
       volume = "10",
       pages = "627-628",
       number = "1",
       month = "dec",
       abstract = "Several algorithms in nonlinear control require Lie derivatives. The symbolic
         computation using computer algebra software is straightforward. However, the applicability of
         symbolic computation in nonlinear control is limited due to a considerable increase of the sizes of
         higher order derivatives. This problem can be circumvented using an alternative computation
         technique for derivatives called algorithmic differentiation. We extend existing approaches to
         calculate mixed Lie derivaties.",
       ad_area = "Control",
       ad_tools = "ADOL-C",
       ad_theotech = "Taylor Arithmetic"
}


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