Simple mechanical control systems with constraints

DOI10.1109/9.871752MaRDI QIDQ2730187zbMATH OpenOpenAlexFDO

Authors Andrew D. Lewis

Publication date 5 August 2001

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/4e3f2b7051f55ba1d29d343fd368fabcadb2fab3

zbMATH Keywords

controllabilityHeisenberg systemaffine connectionssnakeboardroller racernonholonomic mechanical control systemsupright rolling disk

Mathematics Subject Classification ID

Controllability (93B05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

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Cited in

(18)

• On mechanical control systems with nonholonomic constraints and symmetries
• Oscillations, SE(2)-snakes and motion control: A study of the Roller Racer
• Trajectory design for mechanical control systems: from geometry to algorithms
• Constraint control of nonholonomic mechanical systems
• Motion measurement of a two-wheeled skateboard and its dynamical simulation
• An Analysis of Pulse Control for Simple Mechanical Systems
• Some flower-like gaits in the snakeboard locomotion
• An elementary result on the uniform stability of a class of continuous autonomous systems
• Invariant nonholonomic Riemannian structures on three-dimensional Lie groups
• Trajectory generation for nonholonomic control systems using reconstruction techniques on SE(2)
• Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction
• On some aspects of the geometry of non integrable distributions and applications
• Controllability of mechanical systems near a degeneration subset of nonholonomic constraints
• Affine connections and distributions with applications to nonholonomic mechanics
• A geometric approach to the optimal control of nonholonomic mechanical systems
• Configuration controllability for non-zero potential mechanical control systems with dissipation
• A stopping algorithm for mechanical systems
• Simple Mechanical Control Systems with Constraints and Symmetry

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