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

DOI10.1016/S0167-6911(03)00168-3MaRDI QIDQ2503542zbMATH OpenWikidataFDO

Authors 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)

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Cites work

• scientific article; zbMATH DE number 3478669 (Why is no real title available?)
• scientific article; zbMATH DE number 1300852 (Why is no real title available?)
• scientific article; zbMATH DE number 1561756 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Motion control of drift-free, left-invariant systems on Lie groups
• Nonlinear systems. Analysis, stability, and control
• On Global Representations of the Solutions of Linear Differential Equations as a Product of Exponentials
• On the exponential solution of differential equations for a linear operator
• Stability and drift of underwater vehicle dynamics: mechanical systems with rigid motion symmetry
• System Theory on Group Manifolds and Coset Spaces

Cited in

(1)

• Constrained control for systems on matrix Lie groups with uncertainties

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