Controlling nonholonomic Chaplygin systems
Fuente:
Redalyc
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Artículo científico |
| Sprache: | en |
| Veröffentlicht: |
Sociedade Brasileira de Física
2010
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1876452700274556928 |
|---|---|
| author | Antonio Carlos Baptista Antunes |
| author_facet | Antonio Carlos Baptista Antunes |
| contents | Controlling nonholonomic Chaplygin systems Antonio Carlos Baptista Antunes Cássio Sigaud Pedro Claudio Guaranho de Moraes Física, Astronomía y Matemáticas Chaplygin systems vakonomic approach Nonholonomic systems In this paper we deal with the problem of controlling some Chaplygin systems in the framework of the vakonomic approach for nonholonomic systems. Equations of motion for these systems are obtained which contain a free parameter that permits to control the system. It is show that given a prescribed path it is possible to determine the parameter of control which inserted in the equations of motion compel the trajectory of the system to follow the input function. 2010 artículo científico 0103-9733 https://www.redalyc.org/articulo.oa?id=46415797002 en http://www.redalyc.org/revista.oa?id=464 Brazilian Journal of Physics application/pdf Sociedade Brasileira de Física Brazilian Journal of Physics (Brasil) Num.2 Vol.40 |
| format | Artículo científico |
| id | redalyc_46415797002 |
| institution | Redalyc |
| language | en |
| publishDate | 2010 |
| publisher | Sociedade Brasileira de Física |
| spellingShingle | Controlling nonholonomic Chaplygin systems Antonio Carlos Baptista Antunes Física, Astronomía y Matemáticas Chaplygin systems vakonomic approach Nonholonomic systems Controlling nonholonomic Chaplygin systems Antonio Carlos Baptista Antunes Cássio Sigaud Pedro Claudio Guaranho de Moraes Física, Astronomía y Matemáticas Chaplygin systems vakonomic approach Nonholonomic systems In this paper we deal with the problem of controlling some Chaplygin systems in the framework of the vakonomic approach for nonholonomic systems. Equations of motion for these systems are obtained which contain a free parameter that permits to control the system. It is show that given a prescribed path it is possible to determine the parameter of control which inserted in the equations of motion compel the trajectory of the system to follow the input function. 2010 artículo científico 0103-9733 https://www.redalyc.org/articulo.oa?id=46415797002 en http://www.redalyc.org/revista.oa?id=464 Brazilian Journal of Physics application/pdf Sociedade Brasileira de Física Brazilian Journal of Physics (Brasil) Num.2 Vol.40 |
| title | Controlling nonholonomic Chaplygin systems |
| topic | Física, Astronomía y Matemáticas Chaplygin systems vakonomic approach Nonholonomic systems |
| url | https://www.redalyc.org/articulo.oa?id=46415797002 |