On mechanical control systems with nonholonomic constraints and symmetries
DOI10.1016/S0167-6911(01)00173-6zbMath0987.93017MaRDI QIDQ5958565
Bullo, Francesco, Miloš Žefran
Publication date: 3 March 2002
Published in: Systems \& Control Letters (Search for Journal in Brave)
controllability; nonlinear control; modeling; mechanical systems; symmetries; computational method; affine connection; nonholonomic constraints; Lagrangian systems; differential geometric methods; robotic mechanisms
93B05: Controllability
70Q05: Control of mechanical systems
70E60: Robot dynamics and control of rigid bodies
70F20: Holonomic systems related to the dynamics of a system of particles
70H33: Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics
70H03: Lagrange's equations
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