Virtual affine nonholonomic constraints

DOI10.1007/978-3-031-38299-4_10arXiv2301.03890OpenAlexW4385417347MaRDI QIDQ6138218FDOQ6138218

Leonardo Colombo, Alexandre Anahory Simoes, Anthony M. Bloch, Efstratios Stratoglou

Publication date: 16 January 2024

Published in: Lecture Notes in Computer Science (Search for Journal in Brave)

Abstract: Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual affine nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant affine distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual affine nonholonomic constraint.

Full work available at URL: https://arxiv.org/abs/2301.03890

zbMATH Keywords

nonholonomic systemsnonlinear controlvirtual constraints

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Feedback control (93B52) Nonlinear systems in control theory (93C10) Geometric methods (93B27)

Cites Work

• Conservation of energy and momenta in nonholonomic systems with affine constraints
• Moving energies as first integrals of nonholonomic systems with affine constraints
• Virtual nonholonomic constraints: a geometric approach

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