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...

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Detalles Bibliográficos
Autores: Simoes, Alexandre Anahory, Stratoglou, Efstratios, Bloch, Anthony, Colombo, Leonardo J.
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2023
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/369139
Acceso en línea:http://hdl.handle.net/10261/369139
Access Level:acceso abierto
Palabra clave:Underactuated mechanical systems
Affine connection control systems
Virtual constraints
Nonholonomic systems
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spelling Virtual nonholonomic constraints: A geometric approachSimoes, Alexandre AnahoryStratoglou, EfstratiosBloch, AnthonyColombo, Leonardo J.Underactuated mechanical systemsAffine connection control systemsVirtual constraintsNonholonomic systemsVirtual 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.Peer reviewedElsevierSimoes, Alexandre Anahory [0000-0003-4644-876X]Stratoglou, Efstratios [0009-0009-1216-6060]Bloch, Anthony [0000-0003-0235-9765]Colombo, Leonardo J. [0000-0001-6493-6113]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242023info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionhttp://hdl.handle.net/10261/369139reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés10.1016/j.automatica.2023.111166Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3691392026-05-22T06:33:51Z
dc.title.none.fl_str_mv Virtual nonholonomic constraints: A geometric approach
title Virtual nonholonomic constraints: A geometric approach
spellingShingle Virtual nonholonomic constraints: A geometric approach
Simoes, Alexandre Anahory
Underactuated mechanical systems
Affine connection control systems
Virtual constraints
Nonholonomic systems
title_short Virtual nonholonomic constraints: A geometric approach
title_full Virtual nonholonomic constraints: A geometric approach
title_fullStr Virtual nonholonomic constraints: A geometric approach
title_full_unstemmed Virtual nonholonomic constraints: A geometric approach
title_sort Virtual nonholonomic constraints: A geometric approach
dc.creator.none.fl_str_mv Simoes, Alexandre Anahory
Stratoglou, Efstratios
Bloch, Anthony
Colombo, Leonardo J.
author Simoes, Alexandre Anahory
author_facet Simoes, Alexandre Anahory
Stratoglou, Efstratios
Bloch, Anthony
Colombo, Leonardo J.
author_role author
author2 Stratoglou, Efstratios
Bloch, Anthony
Colombo, Leonardo J.
author2_role author
author
author
dc.contributor.none.fl_str_mv Simoes, Alexandre Anahory [0000-0003-4644-876X]
Stratoglou, Efstratios [0009-0009-1216-6060]
Bloch, Anthony [0000-0003-0235-9765]
Colombo, Leonardo J. [0000-0001-6493-6113]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Underactuated mechanical systems
Affine connection control systems
Virtual constraints
Nonholonomic systems
topic Underactuated mechanical systems
Affine connection control systems
Virtual constraints
Nonholonomic systems
description 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.
publishDate 2023
dc.date.none.fl_str_mv 2023
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/369139
url http://hdl.handle.net/10261/369139
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv 10.1016/j.automatica.2023.111166
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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