On mechanical control systems with nonholonomic constraints and symmetries

DOI10.1016/S0167-6911(01)00173-6zbMath0987.93017OpenAlexW2107341899MaRDI QIDQ5958565

Miloš Žefran, Bullo, Francesco

Publication date: 3 March 2002

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

Full work available at URL: https://doi.org/10.1016/s0167-6911(01)00173-6

zbMATH Keywords

controllabilitynonlinear controlmodelingmechanical systemssymmetriescomputational methodaffine connectionnonholonomic constraintsLagrangian systemsdifferential geometric methodsrobotic mechanisms

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Lagrange's equations (70H03)

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