This paper develops a constructive method for finding a nilpotent basis for a special class of smooth nonholonomic distributions. The main tool is the use of the Goursat normal form theorem which arises in the study of exterior differential systems. The results are applied to the problem of finding a set of nilpotent input vector fields for a nonholonomic control system, which can then used to ...

‎In this paper we study the dynamics of the 2D-motion of a particle of monolayer‎. First we consider the usual physical time component and the plan manifold R2, having the polar coordinates. Then a geometric approach to nonholonomic constrained mechanical systems is applied to a problem from the two dimensional geometric dynamics of the Langmuir-Blodgett monolayer‎. We consider a constraint sub...

We deduce a classification of all special types of nonholonomic 3-jets. In the introductory part, we summarize the basic properties of nonholonomic r-jets. Generally speaking, a very attractive phenomenon of the problem of classifying the special types of nonholonomic 3-jets is that its solution is heavily based on the Weil algebra technique, even though no algebras appear in the formulation of...

Abstract We construct the exponential map associated to a nonholonomic system that allows us define an exact discrete constraint submanifold. reproduce continuous flow as on this submanifold deriving version of equations. Finally, we derive general family integrators includes particular case trajectory.

The tracking problem for a class of dynamic nonholonomic systems with uncertainties is considered. First, under the assumption that the dynamics of the nonholonomic systems are exactly known without uncertainties, a simpler model-based controller is proposed by means of cascade design approach, in which the virtual velocity controller is linear, and the actual torque controller is derived by co...

Recent concept of integrable nonholonomic deformation found for the KdV equation is extended to the mKdV equation and generalized to the AKNS system. For the deformed mKdV equation we find a matrix Lax pair, a novel two-fold integrable hierarchy and exact N-soliton solutions exhibiting unusual accelerating motion. We show that both the deformed KdV and mKdV systems possess infinitely many gener...

Lagrangian systems with ideal nonholonomic constraints can be expressed as implicit index 2 differential-algebraic equations (DAEs) and can be derived from the Lagrange-d’Alembert principle. We define a new nonholonomically constrained discrete Lagrange-d’Alembert principle based on a discrete Lagrange-d’Alembert principle for forced Lagrangian systems. Nonholonomic constraints are considered a...

This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...