scientific article; zbMATH DE number 7162608
zbMath1472.70053MaRDI QIDQ5213687
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Publication date: 4 February 2020
Full work available at URL: http://online.watsci.org/abstract_pdf/2019v26/v26n6b-pdf/1.pdf
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Lagrange multipliersnonlinear controlgeometric constraintsNewton-Euler equationsMoore-Penrose generalized inversekinematic modelstate space formgeneralized constraint forcesd'Alembert principleinstantaneous center of rotationgeneralized applied forcesdifferential gearboxfront wheel steering mechanismindependent and not independent velocity constraintsnonholonomic and holonomic velocity constraintsrear-wheel-drive vehiclereduced dynamic modelvelocity constraints matrix
Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)
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Cites Work
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