In this paper, we develop a Hamiltonian variational formulation for the nonequilibrium thermodynamics of simple adiabatically closed systems that is an extension Hamilton's phase space principle in mechanics. We introduce Hamilton-d'Alembert thermodynamic by considering nonlinear nonholonomic constraints type. particular, case which given Lagrangian degenerate, construct incorporating primary v...

The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett’s condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying...

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...

We present a convergence analysis for a second order extension of the generalizedα method of Chung and Hulbert for systems in mechanics having nonconstant mass matrix and nonholonomic constraints.

This paper is concerned with kinematically asymmetrically affine control systems with nonholonomic affine constraints (KAACS). We first show the nonintegrability condition for affine constraints using their geometric representation. Next, the KAACS is uniquely derived from affine constraints and control inputs. We then analyze the KAACS based on nonlinear control theory and provide some conditi...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...

A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method yields admissible input trajectories that drive both the manipulator and the platform to a desired configuration and is based on mapping the nonholonomic constraint to a space where it can be satisfied t...

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 Valladoli...

We prove the existence of hidden symmetries in the general relativity theory defined by exact solutions with generic off–diagonal metrics, nonholonomic (non–integrable) constraints, and deformations of the frame and linear connection structure. A special role in characterization of such spacetimes is played by the corresponding nonholonomic generalizations of Stackel–Killing and Killing–Yano te...