Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866908951009820672 |
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| author | Lin, Bohuan Yao, Weijia |
| author_facet | Lin, Bohuan Yao, Weijia |
| contents | In this paper we study a path-following problem on $R^3$ with a non-holonomic constraint. The geometric structure associated to the velocity constraint is explored, and general principles for constructing guiding vector fields are obtained, fulfilling the path-following requirements on a neighborhood of the desired path while allowing the design of vector fields to be conducted in global coordinates. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_08873 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$ Lin, Bohuan Yao, Weijia Dynamical Systems Differential Geometry Optimization and Control 37N35, 53Z30, 34H05, 34C40 In this paper we study a path-following problem on $R^3$ with a non-holonomic constraint. The geometric structure associated to the velocity constraint is explored, and general principles for constructing guiding vector fields are obtained, fulfilling the path-following requirements on a neighborhood of the desired path while allowing the design of vector fields to be conducted in global coordinates. |
| title | Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$ |
| topic | Dynamical Systems Differential Geometry Optimization and Control 37N35, 53Z30, 34H05, 34C40 |
| url | https://arxiv.org/abs/2604.08873 |