A driftless linear approximation at the initial state, re-solved on progressively shorter intervals, is claimed to drive constrained nonlinear systems arbitrarily close to any reachable target; the proof rests on a false differential inequality.
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Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation
A driftless linear approximation at the initial state, re-solved on progressively shorter intervals, is claimed to drive constrained nonlinear systems arbitrarily close to any reachable target; the proof rests on a false differential inequality.