Virtual affine nonholonomic constraints

DOI10.1007/978-3-031-38299-4_10MaRDI QIDQ6138218zbMATH OpenOpenAlexFDO

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

Publication date 16 January 2024

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

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) Geometric methods (93B27) Feedback control (93B52) Nonlinear systems in control theory (93C10)

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.

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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

Cited in

(4)

• Geometric stabilization of virtual nonlinear nonholonomic constraints
• Virtual nonlinear nonholonomic constraints from a symplectic point of view
• Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
• Geometry of constrained connection systems

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