Geometric stabilization of virtual linear nonholonomic constraints
Optimization and Control
2024-11-05 v1
Abstract
In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic constraint that is control invariant via the same feedback control. Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Virtual nonholonomic constraints, similarly to mechanical nonholonomic constraints, are a class of virtual constraints that depend on velocities rather than only on the configurations of the system.
Keywords
Cite
@article{arxiv.2411.01692,
title = {Geometric stabilization of virtual linear nonholonomic constraints},
author = {Alexandre Anahory Simoes and Anthony Bloch and Leonardo Colombo and Efstratios Stratoglou},
journal= {arXiv preprint arXiv:2411.01692},
year = {2024}
}