Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group

DOI10.1016/S0167-6911(03)00168-3zbMath1157.93449WikidataQ57084387 ScholiaQ57084387MaRDI QIDQ2503542

Claudio Altafini, Ruggero Frezza

Publication date: 21 September 2006

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

Coadjoint actionConstrained motionMatrix Lie groupsNoninvariant one-formsWei--Norman formula

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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