Simple Mechanical Control Systems with Constraints and Symmetry

DOI10.1137/S0363012900381741MaRDI QIDQ4785663zbMATH OpenOpenAlexFDO

Authors

Publication date 5 January 2003

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/s0363012900381741

zbMATH Keywords

configuration spacecontrollabilitynonholonomic constraintsplanar rigid bodyprincipal connectionsprincipal fiber bundle structuresymmetriesunderactuated mechancial systems

Mathematics Subject Classification ID

Linear and affine connections (53B05) Control of mechanical systems (70Q05) Controllability (93B05)

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(11)

• Symmetries in the wheeled inverted pendulum mechanism
• Motion control algorithms for simple mechanical systems with symmetry
• Optimal control, contact dynamics and Herglotz variational problem
• About simple variational splines from the Hamiltonian viewpoint
• Simple mechanical control systems with constraints
• Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum
• Influence of nonholonomic constraints on variations, symplectic structure, and dynamics of mechanical systems
• scientific article; zbMATH DE number 1187499 (Why is no real title available?)
• The mechanics and control for multi-particle systems
• Low-Order Controllability and Kinematic Reductions for Affine Connection Control Systems
• Local control of 2-link robotic worms based on additional symmetries

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