Virtual nonholonomic constraints: A geometric approach
Virtual constraints are relations imposed in a control system that become invariant via feedback instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual...
| Autores: | , , , |
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| Formato: | artículo |
| Estado: | Versión enviada para evaluación y publicación |
| Fecha de publicación: | 2023 |
| País: | España |
| Recursos: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/369139 |
| Acesso em linha: | http://hdl.handle.net/10261/369139 |
| Access Level: | acceso abierto |
| Palavra-chave: | Underactuated mechanical systems Affine connection control systems Virtual constraints Nonholonomic systems |
| Resumo: | Virtual constraints are relations imposed in a control system that become invariant via feedback instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual nonholonomic constraint and we characterize the trajectories of the closed-loop system as solutions of a mechanical system associated with an induced constrained connection. Moreover, we characterize the dynamics for nonholonomic systems in terms of virtual nonholonomic constraints, i.e., we characterize when can we obtain nonholonomic dynamics from virtual nonholonomic constraints. |
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