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Unlike some other reproductions of classic texts (1) We have not used OCR(Optical Character Recognition), as this leads to bad quality books with introduced typos. (2) In books where there are images such as portraits, maps, sketches etc We have endeavoured to keep the quality of these images, so they represent accurately the original artefact. Although occasionally there may be certain imperfections with these old texts, we feel they deserve to be made available for future generations to enjoy.
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
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