Modeling and analysis of nonholonomic dynamic systems with a class of rheonomous affine constraints

This paper is devoted to modeling and theoretical analysis of dynamic control systems subject to a class of rheonomous affine constraints, which are called A -rheonomous affine constraints. We first define A -rheonomous affine constraints and explain their geometric representation. Next, a necessary...

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Bibliographic Details
Published inNonlinear dynamics Vol. 76; no. 2; pp. 1411 - 1422
Main Author Kai, Tatsuya
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.04.2014
Springer Nature B.V
Subjects
Accessibility
Approximation
Automotive Engineering
Classical Mechanics
Constraint modelling
Control
Control systems
Dynamic control
Dynamic tests
Dynamical Systems
Engineering
Mechanical Engineering
Nonlinear control
Nonlinear dynamics
Nonlinear systems
Original Paper
Representations
Vibration
Nonlinear control systems
Rheonomous bracket
Accessibility
Rheonomous affine constraints
Nonholonomic dynamic systems
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Summary:This paper is devoted to modeling and theoretical analysis of dynamic control systems subject to a class of rheonomous affine constraints, which are called A -rheonomous affine constraints. We first define A -rheonomous affine constraints and explain their geometric representation. Next, a necessary and sufficient condition for complete nonholonomicity of A -rheonomous affine constraints is shown. Then, we derive nonholonomic dynamic systems with A -rheonomous affine constraints (NDSARAC), which are included in the class of nonlinear control systems. We also analyze linear approximated systems and accessibility for the NDSARAC. Finally, the results are applied to some physical examples in order to check the application potentiality.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-013-1218-8