Virtual Affine Nonholonomic Constraints
Optimization and Control
2023-01-11 v1 Systems and Control
Systems and Control
Mathematical Physics
math.MP
Abstract
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual affine nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant affine distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual affine nonholonomic constraint.
Keywords
Cite
@article{arxiv.2301.03890,
title = {Virtual Affine Nonholonomic Constraints},
author = {Efstratios Stratoglou and Alexandre Anahory Simoes and Anthony Bloch and Leonardo Colombo},
journal= {arXiv preprint arXiv:2301.03890},
year = {2023}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2207.01299