Simple mechanical control systems with constraints

DOI10.1109/9.871752zbMath0994.70023OpenAlexW2138642494MaRDI QIDQ2730187

Andrew D. Lewis

Publication date: 5 August 2001

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://semanticscholar.org/paper/4e3f2b7051f55ba1d29d343fd368fabcadb2fab3

zbMATH Keywords

controllabilityaffine connectionsHeisenberg systemsnakeboardroller racernonholonomic mechanical control systemsupright rolling disk

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) 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) Control/observation systems governed by ordinary differential equations (93C15)

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Some flower-like gaits in the snakeboard locomotion ⋮ Invariant nonholonomic Riemannian structures on three-dimensional Lie groups ⋮ A Geometric Approach to the Optimal Control of Nonholonomic Mechanical Systems ⋮ Constraint control of nonholonomic mechanical systems ⋮ Motion measurement of a two-wheeled skateboard and its dynamical simulation ⋮ Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction ⋮ On some aspects of the geometry of non integrable distributions and applications ⋮ Configuration controllability for non-zero potential mechanical control systems with dissipation ⋮ An Elementary Result On The Uniform Stability Of A Class Of Continuous Autonomous Systems ⋮ On mechanical control systems with nonholonomic constraints and symmetries ⋮ Trajectory design for mechanical control systems: from geometry to algorithms ⋮ Affine connections and distributions with applications to nonholonomic mechanics

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