Related papers: Virtual Affine Nonholonomic Constraints
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…
In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove…
We first present a way to formulate the equations of motion for a nonholonomic system with nonlinear constraints with respect to the velocities. The formulation is based on the Cetaev condition which aims to extend the practical method of…
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The…
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…
A nonholonomic system is a mechanical system with velocity constraints not originating from position constraints; rolling without slipping is the typical example. A nonholonomic integrator is a numerical method specifically designed for…
We define an invariant of welded virtual knots from each finite crossed module by considering crossed module invariants of ribbon knotted surfaces which are naturally associated with them. We elucidate that the invariants obtained are non…
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…
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…
In this work we describe a new invariant of virtual knots. We show that this transcendental function invariant generalizes several polynomial invariants of virtual knots, such as the writhe polynomial, the affine index polynomial and the…