Virtual nonholonomic constraints: a geometric approach

DOI10.1016/J.AUTOMATICA.2023.111166MaRDI QIDQ6165342zbMATH OpenOpenAlexFDO

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

Publication date 31 July 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2207.01299

zbMATH Keywords

affine connection control systemsnonholonomic systemsunderactuated mechanical systemsvirtual 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)

Abstract: Virtual constraints are invariant relations imposed on a control system via feedback as opposed to 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 nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant distribution associated with an affine connection mechanical control system. We demonstrate the existence and uniqueness of a control law defining a virtual nonholonomic constraint and we characterize the trajectories of the closed-loop system as solutions of a mechanical system associated with an induced constrained connection. Moreover, we characterize the dynamics for nonholonomic systems in terms of virtual nonholonomic constraints, i.e., we characterize when can we obtain nonholonomic dynamics from virtual nonholonomic constraints.

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Cited in

(10)

• A coordinate-free theory of virtual holonomic constraints
• Synthesis of virtual holonomic constraints for obtaining stable constraint dynamics
• Virtual affine nonholonomic constraints
• Virtual constraint generators for motion control of robots with degree of underactuation one
• Geometric stabilization of virtual nonlinear nonholonomic constraints
• Virtual nonlinear nonholonomic constraints from a symplectic point of view
• Finite-time flocking behavior of the Cucker-Smale model on the infinite cylinder
• Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
• Geometry of constrained connection systems
• Cooperative control of MASs on Lie groups under input biases, inertia uncertainties, and nonholonomic constraints

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