Simple Mechanical Control Systems with Constraints and Symmetry

DOI10.1137/S0363012900381741zbMATH Open1019.93014OpenAlexW2015672894MaRDI QIDQ4785663FDOQ4785663

Authors:

Publication date: 5 January 2003

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/s0363012900381741

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zbMATH Keywords

controllabilitysymmetriesconfiguration spacenonholonomic constraintsprincipal connectionsplanar rigid bodyprincipal fiber bundle structureunderactuated mechancial systems

Mathematics Subject Classification ID

Controllability (93B05) Linear and affine connections (53B05) Control of mechanical systems (70Q05)

Cited In (10)

• Simple mechanical control systems with constraints
• Optimal control, contact dynamics and Herglotz variational problem
• Local control of 2-link robotic worms based on additional symmetries
• Title not available (Why is that?)
• Motion control algorithms for simple mechanical systems with symmetry
• About simple variational splines from the Hamiltonian viewpoint
• Influence of nonholonomic constraints on variations, symplectic structure, and dynamics of mechanical systems
• Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum
• Low-Order Controllability and Kinematic Reductions for Affine Connection Control Systems
• Symmetries in the wheeled inverted pendulum mechanism

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