Simple mechanical control systems with constraints

We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our presentation. The necessary background is presented in order to illustrate how the...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2000-08, Vol.45 (8), p.1420-1436
Main Author: Lewis, A.D.
Format: Article
Language:English
Subjects:
Algebra
Automatic control
Constraint theory
Control systems
Controllability
Disks
Equations
Joints
Kinetic energy
Lagrangian functions
Mechanical control systems
Mechanical systems
Potential energy
Rollers
Velocity control
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Summary:We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our presentation. The necessary background is presented in order to illustrate how the methods may be applied. The bulk of this paper is devoted to a detailed analysis of some examples of nonholonomic mechanical control systems. We look at the Heisenberg system, the upright rolling disk, the roller racer, and the snakeboard.
ISSN:0018-9286
1558-2523
DOI:10.1109/9.871752