Simple mechanical control systems with constraints
Copyright policy )Simple mechanical control systems with constraints
Summary: We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our presentation. The necessary background is presented in order to illustrate how the methods may be applied. The bulk of this paper is devoted to a detailed analysis of some examples of nonholonomic mechanical control systems. We look at the Heisenberg system, the upright rolling disk, the roller racer, and the snakeboard.
- Queen's University Canada
- Queens University Canada
Controllability, nonholonomic mechanical control systems, Nonholonomic systems related to the dynamics of a system of particles, roller racer, controllability, snakeboard, upright rolling disk, Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics, affine connections, Control of mechanical systems, Heisenberg system, Control/observation systems governed by ordinary differential equations
Controllability, nonholonomic mechanical control systems, Nonholonomic systems related to the dynamics of a system of particles, roller racer, controllability, snakeboard, upright rolling disk, Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics, affine connections, Control of mechanical systems, Heisenberg system, Control/observation systems governed by ordinary differential equations
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