相关论文: A note on holonomic costraints

Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…

Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…

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…

The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…

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 give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…

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…

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…

Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

This paper investigates the dynamics of nonholonomic mechanical systems, focusing on fundamental variational assumptions and the role of the transpositional rule. We analyze how the Cetaev condition and the first variation of constraints…

This paper formulates a variational approach for treating observational uncertainty and/or computational model errors as stochastic transport in dynamical systems governed by action principles under nonholonomic constraints. For this…

The constraint distribution in non-holonomic mechanics has a double role. On one hand, it is a kinematic constraint, that is, it is a restriction on the motion itself. On the other hand, it is also a restriction on the allowed variations…

The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…

In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…

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…

We construct an operational formulation of classical mechanics without presupposing previous results from analytical mechanics. In doing so, several concepts from analytical mechanics will be rediscovered from an entirely new perspective.…

In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates…

We show the well-posed variational principle in constraint systems. In a naive procedure of the variational principle with constraints, the proper number of boundary conditions does not match with that of physical degrees of freedom…

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…