Related papers: Virtual Nonholonomic Constraints: A Geometric Appr…
In the comparison of nonholonomic mechanics and constrained variational mechanics, invariant affine subbundles arise in the determination of the initial conditions where the two methods yield the same trajectories. Motivated by this,…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
We study the dynamics of pairs of connected masses in the plane, when nonholonomic (knife-edge) constraints are realized by forces of viscous friction, in particular its relation to constrained dynamics, and its approximation by the method…
A hybrid system is a system whose dynamics is given by a mixture of both continuous and discrete transitions. In particular, these systems can be utilised to describe the dynamics of a mechanical system with impacts. Based on the approach…
A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the…
The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem is based on the virtual holonomic constraint (VHC) method.…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
In 1986 Ya.V. Tatarinov presented the foundations of the theory of weakly nonholonomic systems. Mechanical systems with nonholonomic constraints depending on a small parameter are considered. It is assumed that for zero value of this…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…
A mechanical system is presented exhibiting a non-deterministic singularity, that is, a point in an otherwise deterministic system where forward time trajectories become non-unique. A Coulomb friction force applies linear and angular forces…
The developments in this paper are concerned with nonholonomic field theories in the presence of symmetries. Having previously treated the case of vertical symmetries, we now deal with the case where the symmetry action can also have a…
Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled…
In this paper, we present a universal control technique, the non-holonomic control, which allows us to impose any arbitrarily prescribed unitary evolution to any quantum system through the alternate application of two well-chosen…
Vakonomic mechanics has been proposed as a possible description of the dynamics of systems subject to nonholonomic constraints. The aim of the present work is to show that for an important physical system the motion brought about by…