Related papers: Virtual Nonholonomic Constraints: A Geometric Appr…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
We investigate the behavior of dynamical systems with nonholonomic constraints when coupled to a thermal bath, focusing on the paradigmatic case of the Chaplygin sleigh. A straightforward Langevin-type approach obtained by naively adding…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Invariant manifolds are the skeleton of the chaotic dynamics in Hamiltonian systems. In Celestial Mechanics, for instance, these geometrical structures are applied to a multitude of physical and practical problems, such as to the…
A system with anholonomic constraints where the trajectories of physical degrees of freedom are autoparallels on a manifold equipped with a general Cartan connection is discussed. A variational principle for the autoparallel trajectories is…
Nonholonomic constraints restrict feasible velocities without reducing configuration-space dimension, which makes collision-free geometric paths generally non-executable for car-like robots. Ackermann steering further imposes curvature…
In order to describe the impact of different geometric structures and constraints for the dynamics of a Hamiltonian system, in this paper, for a magnetic Hamiltonian system defined by a magnetic symplectic form, we first drive precisely the…
Motivated by the application of using model predictive control (MPC) for motion planning of autonomous mobile robots, a form of output tracking MPC for non-holonomic systems and with non-convex constraints is studied. Although the…
Inhomogeneous quantum cosmology is modeled as a dynamical system of discrete patches, whose interacting many-body equations can be mapped to a non-linear minisuperspace equation by methods analogous to Bose-Einstein condensation.…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
We consider a simple motivating example of a non-Hamiltonian dynamical system with time-dependent constraints obtained by imposing rheonomic non-integrable Bilimovich's constraint on a freely rotating rigid body. Dynamics of this…
We consider some generalizations of the classical nonholonomic integrator and give a geometric approach to characterize controllability for these systems. We use Stokes' theorem and results from complex analysis to obtain necessary and…
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in…
In this paper, we address the problem of controlling a system over an unreliable connection that is affected by time-varying delays and randomly occurring packet losses. A novel sequence-based approach is proposed that extends a given…