Work

On the Geometry of Virtual Nonlinear Nonholonomic Constraints

Year: 2024

Type: article

Abstract: Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with nonintegrable constraints on the velocities. In this work, we introduce the notion ofvirtual nonlinear nonholonomic constraintsin a geometric framework which is a controlled invariant submanifold and we show the existence and uniqueness of a control law preserving this submanifold.

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2024.3508543

Authors: Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch, Leonardo J. Colombo

Institutions: Universidad Politécnica de Madrid, IE University, University of Michigan, Centre for Automation and Robotics

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Agencia Estatal de Investigación, Air Force Office of Scientific Research