Mechanical systems subjected to generalized nonholonomic constraints
نویسندگان
چکیده
By J. Cortés, M. de León, D. Mart́ın de Diego, S. Mart́ınez 1 Instituto de Matemáticas y F́ısica Fundamental, Consejo Superior de Investigaciones Cient́ıficas, Serrano 123, 28006 Madrid, SPAIN ([email protected], [email protected], [email protected]) 2 Departamento de Economı́a Aplicada (Matemáticas), Universidad de Valladolid, Avda. Valle Esgueva 6, 47011 Valladolid, SPAIN ([email protected])
منابع مشابه
Equations of Motion for Nonholonomic , Constrained Dynamical Systems via
In this paper we develop an analytical set of equations to describe the motion of discrete dynamical systems subjected to holonomic and/or nonholonomic Pfaffian equality constraints. These equations are obtained by using Gauss's Principle to recast the problem of the constrained motion of dynamical systems in the form of a quadratic programming problem. The closed-form solution to this programm...
متن کاملStabilizability and Motion Tracking Conditions for Mechanical Nonholonomic Control Systems
This paper addresses formulation of stabilizability and motion tracking conditions for mechanical systems from the point of view of constraints put on them. We present a new classification of constraints, which includes nonholonomic constraints that arise in both mechanics and control. Based on our classification we develop kinematic and dynamic control models of systems subjected to these cons...
متن کاملHamilton–jacobi Theory for Degenerate Lagrangian Systems with Holonomic and Nonholonomic Constraints
We extend Hamilton–Jacobi theory to Lagrange–Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer to the generalized Hamilton–Jacobi equation as the Dirac–Hamilton–Jacobi equation. For non-degenerate Lagrangian systems with nonholonomic constraints, the th...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملCorrigendum: New Form of Kane’s Equations of Motion for Constrained Systems
A correction to the previously published article “New Form of Kane’s Equations of Motion for Constrained Systems”1 is presented. Misuse of the transformation matrix between time rates of change of the generalized coordinates and generalized speeds (sometimes called motion variables) resulted in a false conclusion concerning the symmetry of the generalized inertia matrix. The generalized inertia...
متن کامل