Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group

DOI10.1016/S0167-6911(03)00168-3zbMATH Open1157.93449WikidataQ57084387 ScholiaQ57084387MaRDI QIDQ2503542FDOQ2503542

Claudio Altafini, Ruggero Frezza

Publication date: 21 September 2006

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

zbMATH Keywords

Coadjoint actionConstrained motionMatrix Lie groupsNoninvariant one-formsWei--Norman formula

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

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• Nonlinear systems. Analysis, stability, and control
• On the exponential solution of differential equations for a linear operator
• Motion control of drift-free, left-invariant systems on Lie groups
• System Theory on Group Manifolds and Coset Spaces
• On Global Representations of the Solutions of Linear Differential Equations as a Product of Exponentials
• Stability and drift of underwater vehicle dynamics: mechanical systems with rigid motion symmetry

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