Controllability of mechanical systems near a degeneration subset of nonholonomic constraints

DOI10.1134/S1064230710060031zbMATH Open1268.93028MaRDI QIDQ2391518FDOQ2391518

Authors: I. V. Zakalyukin 

Publication date: 31 July 2013

Published in: Journal of Computer and Systems Sciences International (Search for Journal in Brave)

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zbMATH Keywords

asymptotic behaviornonholonomic constraintscontrollability of mechanical systemsdegeneration subsetreachability region

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Attainable sets, reachability (93B03) Application models in control theory (93C95)

Cites Work

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• A control for an insectomorphic robot in climbing to the top of a vertical corner and in moving on a step ladder
• Complexity of nonholonomic motion planning
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• A variant of navigation of a mobile robot with the help of a camera

Cited In (3)

• Controllability of mechanical systems in the class of controls bounded together with their derivatives
• Degeneration of nonholonomic constraints and Ferrers equations
• On mechanical control systems with nonholonomic constraints and symmetries

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