Geometric stabilization of virtual nonlinear nonholonomic constraints

DOI10.1007/978-3-032-03924-8_2MaRDI QIDQ6847250zbMATH OpenFDO

Authors Alexandre Anahory Simoes, Anthony M. Bloch, Leonardo Colombo, Efstratios Stratoglou

Publication date 9 March 2026

Full work available at URL https://doi.org/10.1007/978-3-032-03924-8_2

zbMATH Keywords

geometric controlnonholonomic systemsnonlinear controlvirtual constraints

Mathematics Subject Classification ID

Nonautonomous Hamiltonian dynamical systems (Painlevé equations, etc.) (37J65) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Geometric methods (93B27) Stabilization of systems by feedback (93D15)

Cites work

• A historical review on nonholomic mechanics
• Conservation of energy and momenta in nonholonomic systems with affine constraints
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. E Crouch, J. E. Marsden and D. Zenkov. With scientific input from P. S. Krishnaprasad and R. M. Murray
• On the geometry of virtual nonlinear nonholonomic constraints
• Virtual affine nonholonomic constraints
• Virtual nonholonomic constraints: a geometric approach

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