Stabilizability and motion tracking conditions for mechanical nonholonomic control systems
type: Item
instance of: scholarly article
title: Stabilizability and motion tracking conditions for mechanical nonholonomic control systems
zbMATH Open document ID: 1360.70039
DOI: 10.1155/2007/31267
published in: Mathematical Problems in Engineering
publication date: 2008-11-24T00:00:00Z
review text: Summary: This paper addresses formulation of stabilizability and motion tracking conditions for mechanical systems from the point of view of constraints put on them. We present a new classification of constraints, which includes nonholonomic constraints that arise in both mechanics and control. Based on our classification we develop kinematic and dynamic control models of systems subjected to these constraints. We demonstrate that a property of being a ``hard-to-control'' nonholonomic system may not be related to the nature of the constraints. It may result from the formulation of control objectives for a system. We examine two control objectives which are stabilization to the target equilibrium by a continuous static state feedback control and motion tracking. Theory is illustrated with examples of control objective formulations for systems with constraints of various types.
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70F25
zbMATH DE Number: 5371799
author: Elẓbieta Jarzȩbowska
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2007/31267
OpenAlex ID: W1987436579
cites work: Nonholonomic mechanical systems with symmetry
cites work: Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
cites work: Q4857368
cites work: Analytical mechanics. A comprehensive treatise on the dynamics of constrained systems for engineers, physicists and mathematicians
cites work: On derivation of motion equations for systems with non-holonomic high-order program constraints
cites work: Dynamics modeling of nonholonomic mechanical systems: Theory and applications
cites work: Model-based control strategies for systems with constraints of the program type
cites work: Q4460305
cites work: Dynamics and control of a class of underactuated mechanical systems
cites work: A robust H ∞ model reference tracking design for non-holonomic mechanical control systems
cites work: Q3200939
cites work: Q3309568
cites work: Nonholonomic manipulators.
cites work: Oscillations, SE(2)-snakes and motion control: A study of the Roller Racer
cites work: New integrability conditions for differential constraints
Recommended article: Q4949236
Recommended article: Stabilization of trajectories for systems with nonholonomic constraints
Recommended article: Stabilization of the stationary motions of nonholonomic mechanical systems
Recommended article: Stabilizability of nonholonomic control systems
Recommended article: Q4795761
Recommended article: Control and stabilization of nonholonomic dynamic systems
Recommended article: Q3148872
Recommended article: Q3407544
Recommended article: Nonholonomic mechanical systems and stabilization of motion
description: scientific article; zbMATH DE number 5371799