New integrability conditions for differential constraints

DOI10.1016/S0167-6911(03)00112-9zbMath1157.70310MaRDI QIDQ2503516

Mingjun Zhang, Andrea Serrani, Tzyh Jong Tarn

Publication date: 21 September 2006

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

zbMATH Keywords

Frobenius theoremIntegrable systemsNonholonomic constraintsDifferential formsIntegrability conditionsHolonomic constraints

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Pfaffian systems (58A17) Constrained dynamics, Dirac's theory of constraints (70H45) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Holonomic systems related to the dynamics of a system of particles (70F20) Lagrange's equations (70H03)

Related Items

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

Cites Work

• Nonlinear systems. Analysis, stability, and control
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