New integrability conditions for differential constraints
This paper discusses differential-form-based integrability conditions for dynamic constraints using the Frobenius theorem. The conditions can be used for the classification of holonomic and nonholonomic constraints. Some of the previous conditions used for this purpose are only sufficient. The condi...
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Published in | Systems & control letters Vol. 49; no. 5; pp. 335 - 345 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Amsterdam
Elsevier B.V
15.08.2003
Elsevier |
Subjects | |
Online Access | Get full text |
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Summary: | This paper discusses differential-form-based integrability conditions for dynamic constraints using the Frobenius theorem. The conditions can be used for the classification of holonomic and nonholonomic constraints. Some of the previous conditions used for this purpose are only sufficient. The conditions presented here are both necessary and sufficient.
The paper's main interest is on differential constraints for under-actuated mechanical systems. Different from many discussions in classical mechanics that deal with mostly on kinematics constraints, the constraints discussed here are from the Lagrange equations, which correspond to unactuated part of the system dynamics. |
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ISSN: | 0167-6911 1872-7956 |
DOI: | 10.1016/S0167-6911(03)00112-9 |