New integrability conditions for differential constraints

DOI10.1016/S0167-6911(03)00112-9zbMATH Open1157.70310MaRDI QIDQ2503516FDOQ2503516

Andrea Serrani, Tzyh-Jong Tarn, Mingjun Zhang

Publication date: 21 September 2006

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

Integrable systemsFrobenius theoremNonholonomic constraintsDifferential formsIntegrability conditionsHolonomic constraints

Mathematics Subject Classification ID

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) Lagrange's equations (70H03) Automated systems (robots, etc.) in control theory (93C85) Constrained dynamics, Dirac's theory of constraints (70H45) Holonomic systems related to the dynamics of a system of particles (70F20) Pfaffian systems (58A17)

Cites Work

• Nonlinear systems. Analysis, stability, and control
• Structure and interpretation of classical mechanics
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Cited In (2)

• Stabilizability and motion tracking conditions for mechanical nonholonomic control systems
• Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity

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