How Can Brain Learn to Control a Nonholonomic System?

<table>Rank of the controllability matrix <math id="M67" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><msub><mrow><mi>U</mi></mrow><mrow><mi>c</mi></mrow></msub></mrow></math> at some positions <math id="M68" xmlns="http://www.w3.org/1998/Math/MathML"><msub><mrow><mi>x</mi></mrow><mrow><mi>s</mi></mrow></msub><mo stretchy="false">(</mo><msub><mrow><mover accent="true"><mrow><mi>θ</mi></mrow><mo>̇</mo></mover></mrow><mrow><mn>2</mn></mrow></msub><mo>=</mo><mn>0</mn><mo>,</mo><mi>u</mi><mo>=</mo><mn>0</mn><mo stretchy="false">)</mo></math>.</table>

Journal of Robotics

fig6

Figure 6

Figure 6: How Can Brain Learn to Control a Nonholonomic System? 