On the Geometry of Virtual Nonlinear Nonholonomic Constraints
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 of vi...
| Authors: | , , , |
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| Format: | article |
| Status: | Versión enviada para evaluación y publicación |
| Publication Date: | 2025 |
| Country: | España |
| Institution: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repository: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/420902 |
| Online Access: | http://hdl.handle.net/10261/420902 |
| Access Level: | Open access |
| Keyword: | Feedback control geometric control nonholonomic systems virtual constraints |
| Summary: | 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 of virtual nonlinear nonholonomic constraints in a geometric framework which is a controlled invariant submanifold and we show the existence and uniqueness of a control law preserving this submanifold. |
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