New integrability conditions for differential constraints

DOI10.1016/S0167-6911(03)00112-9MaRDI QIDQ2503516zbMATH OpenFDO

Authors Mingjun Zhang, Tzyh-Jong Tarn, Andrea Serrani

Publication date 21 September 2006

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

Full work available at URL https://doi.org/10.1016/S0167-6911(03)00112-9

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)

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Cites work

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• Nonlinear systems. Analysis, stability, and control
• Structure and interpretation of classical mechanics
• The geometry of physics. An introduction

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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