Permissible control of general constrained mechanical systems

DOI10.1016/j.jfranklin.2009.10.002zbMath1298.93065OpenAlexW2015324271MaRDI QIDQ468225

Aaron D. Schutte

Publication date: 6 November 2014

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2009.10.002

zbMATH Keywords

nonlinear controlcontrol of constrained mechanical systemsgeneral constrained systemsmultibody dynamics and controlunderactuated control

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Attainable sets, reachability (93B03) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (6)

DP-based path planning of a spherical mobile robot in an environment with obstacles ⋮ Layer, Lie algebraic method of motion planning for nonholonomic systems ⋮ A unified approach to rigid body rotational dynamics and control ⋮ Observer-based sliding mode control for path tracking of a spherical robot ⋮ Closed form solution for the equations of motion for constrained linear mechanical systems and generalizations: an algebraic approach ⋮ Design of switching path-planning control for obstacle avoidance of mobile robot

Cites Work

• Unnamed Item
• On the foundations of analytical dynamics
• Equations of motion for mechanical systems: A unified approach
• Equations of motion for constrained multibody systems and their control
• What is the General Form of the Explicit Equations of Motion for Constrained Mechanical Systems?
• Optimal tracking control of nonlinear dynamical systems
• A new perspective on constrained motion
• Equations of Motion for Nonholonomic, Constrained Dynamical Systems via Gauss’s Principle
• A new perspective on the tracking control of nonlinear structural and mechanical systems
• Response to Bucy’s comment on a paper by Udwadia and Kalaba

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