Conic nonholonomic constraints on surfaces and control systems

DOI10.1007/S10883-023-09659-9zbMATH Open1530.93065arXiv2106.08635MaRDI QIDQ6145779FDOQ6145779

Authors: Timothée Schmoderer, Witold Respondek 

Publication date: 9 January 2024

Published in: Journal of Dynamical and Control Systems (Search for Journal in Brave)

Abstract: This paper addresses the equivalence problem of conic submanifolds in the tangent bundle of a smooth 2-dimensional manifold. Those are given by a quadratic relation between the velocities and are treated as nonholonomic constraints whose admissible curves are trajectories of the corresponding control systems, called quadratic systems. We deal with the problem of characterising and classifying conic submanifolds under the prism of feedback equivalence of control systems, both control-affine and fully nonlinear. The first main result of this work is a complete description of non-degenerate conic submanifolds via a characterisation under feedback transformations of the novel class of quadratic control-affine systems. This characterisation can explicitly be tested on structure functions defined for any control-affine system and gives a normal form of quadratizable systems and of conic submanifolds. Then, we consider the classification problem of regular conic submanifolds (ellipses, hyperbolas, and parabolas), which is treated via feedback classification of quadratic control-nonlinear systems. Our classification includes several normal forms of quadratic systems (in particular, normal forms not containing functional parameters as well as those containing neither functional nor real parameters), and, as a consequence, gives a classification of regular conic submanifolds.

Full work available at URL: https://arxiv.org/abs/2106.08635

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zbMATH Keywords

normal formsnonlinear control systemnonholonomic constraintpseudo-Riemannian geometryfeedback equivalenceconic submanifolds

Mathematics Subject Classification ID

Local Riemannian geometry (53B20) Local differential geometry of Lorentz metrics, indefinite metrics (53B30) General systems (93A10) Feedback control (93B52) Nonlinear systems in control theory (93C10) Geometric methods (93B27)

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