Controllability of Rolling without Twisting or Slipping in Higher Dimensions

DOI10.1137/110829581zbMath1257.37042arXiv1103.5258OpenAlexW2963899673WikidataQ125938542 ScholiaQ125938542MaRDI QIDQ3143267

Erlend Grong

Publication date: 29 November 2012

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1103.5258

zbMATH Keywords

controllabilitynonholonomic constraintsframe bundlesbracket generatingrolling maps

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Differential geometric aspects in kinematics (53A17) Differential invariants (local theory), geometric objects (53A55) Nonholonomic dynamical systems (37J60)

Related Items (8)

Geometric conditions for the existence of a rolling without twisting or slipping ⋮ Rolling of manifolds without spinning ⋮ Rolling manifolds on space forms ⋮ Rolling Maps and Nonlinear Data ⋮ Submersions, Hamiltonian Systems, and Optimal Solutions to the Rolling Manifolds Problem ⋮ Functional inequalities on path space of sub-Riemannian manifolds and applications ⋮ On the Controllability of the Rolling Problem onto the Hyperbolic $n$-space ⋮ Curvature and the equivalence problem in sub-Riemannian geometry

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