On Mechanical Control Systems with Nonholonomic Constraints and Symmetries
نویسندگان
چکیده
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangian systems. We consider mechanical systems endowed with symmetries and subject to nonholonomic constraints and external forces. The method is demonstrated on two robotic locomotion mechanisms known as the snakeboard and the roller racer. The resulting coordinate representations are compact and lead to straightforward proofs of various controllability results.
منابع مشابه
Submitted to the 1995 IEEE Conference on Decision and Controls
This paper presents initial results on the control of mechanical systems for which group symmetries exist (i.e., the dynamics are invariant under the action of a Lie group) and are not fully annihilated by the addition of nonholonomic constraints. These types of systems are characterized by the persistence of momentum-like drift terms which are not directly controllable via the inputs to the sy...
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