On mechanical control systems with nonholonomic constraints and symmetries

• Published in: Systems & control letters Vol. 45; no. 2; pp. 133 - 143
• Main Authors: Bullo, Francesco, Žefran, Miloš
• Format: Journal Article
• Language: English
• Published: Amsterdam Elsevier B.V 15.02.2002; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control of mechanical systems; Control system synthesis; Control theory. Systems; Differential geometric methods; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Mechanical systems; Modeling; Nonholonomic constraints; Nonlinear control; Physics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Nonholonomic constraints; Mechanical systems; Modeling; Nonlinear control; Differential geometric methods; Locomotion; Lagrangian; Equation of motion; Differential geometry; Mechanical system; Non holonomic system; Mechanical control; Controllability; Lagrangian system; Robotics; Symmetry

This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangian systems. We consider mechanical systems endowed with symmetries and subject to nonholonomic constraints and external f...