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Control of mechanical systems with symmetries and nonholonomic constraints

Ostrowski, Jim and Burdick, Joel (1995) Control of mechanical systems with symmetries and nonholonomic constraints. In: Proceedings of 1995 34th IEEE Conference on Decision and Control. Vol.4. IEEE , Piscataway, NJ, pp. 4317-4320. ISBN 0-7803-2685-7. https://resolver.caltech.edu/CaltechAUTHORS:20190612-110223746

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Abstract

This paper presents initial results on the control of mechanical systems for which group symmetries exist (i.e., the dynamics are invariant under the action of a Lie group) that are not fully annihilated by the addition of nonholonomic constraints. These types of systems are characterized by the persistence of momentum-like drift terms which are not directly controllable via the inputs to the system. We show that for systems with nonholonomic constraints (in direct contrast with unconstrained systems with symmetries or systems with holonomic constraints) there exists the possibility for controlling these momentum terms. The snakeboard is used as a motivating example, and some comment is given as to the utility of these equations for general robotic locomotion.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.1995.478919DOIArticle
Additional Information:© 1995 IEEE.
Record Number:CaltechAUTHORS:20190612-110223746
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-110223746
Official Citation:J. Otrowski and J. Burdick, "Control of mechanical systems with symmetries and nonholonomic constraints," Proceedings of 1995 34th IEEE Conference on Decision and Control, New Orleans, LA, USA, 1995, pp. 4317-4320 vol.4. doi: 10.1109/CDC.1995.478919
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96323
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 18:09
Last Modified:03 Oct 2019 21:21

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