Higher-order Lie bracket approximations of control-affine systems are equivalent to higher-order averaging terms, unifying the theories with fewer assumptions and enabling faster extremum seeking convergence.
Motion planning for control-affine systems satisfying low-order controllabili ty conditions
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Higher-order Lie bracket approximation and averaging of control-affine systems with application to extremum seeking
Higher-order Lie bracket approximations of control-affine systems are equivalent to higher-order averaging terms, unifying the theories with fewer assumptions and enabling faster extremum seeking convergence.