Geometric stabilization of virtual linear nonholonomic constraints
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866910682446823424 |
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| author | Simoes, Alexandre Anahory Bloch, Anthony Colombo, Leonardo Stratoglou, Efstratios |
| author_facet | Simoes, Alexandre Anahory Bloch, Anthony Colombo, Leonardo Stratoglou, Efstratios |
| contents | In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic constraint that is control invariant via the same feedback control. Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Virtual nonholonomic constraints, similarly to mechanical nonholonomic constraints, are a class of virtual constraints that depend on velocities rather than only on the configurations of the system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_01692 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Geometric stabilization of virtual linear nonholonomic constraints Simoes, Alexandre Anahory Bloch, Anthony Colombo, Leonardo Stratoglou, Efstratios Optimization and Control In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic constraint that is control invariant via the same feedback control. Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Virtual nonholonomic constraints, similarly to mechanical nonholonomic constraints, are a class of virtual constraints that depend on velocities rather than only on the configurations of the system. |
| title | Geometric stabilization of virtual linear nonholonomic constraints |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2411.01692 |