Simple Mechanical Control Systems with Constraints and Symmetry

DOI10.1137/S0363012900381741zbMath1019.93014OpenAlexW2015672894MaRDI QIDQ4785663

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Publication date: 5 January 2003

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/s0363012900381741

zbMATH Keywords

controllabilityconfiguration spacesymmetriesnonholonomic constraintsprincipal connectionsplanar rigid bodyprincipal fiber bundle structureunderactuated mechancial systems

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Linear and affine connections (53B05)

Related Items (5)

About simple variational splines from the Hamiltonian viewpoint ⋮ Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum ⋮ Influence of nonholonomic constraints on variations, symplectic structure, and dynamics of mechanical systems ⋮ Symmetries in the wheeled inverted pendulum mechanism ⋮ Optimal control, contact dynamics and Herglotz variational problem

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