Constraint Control of Nonholonomic Mechanical Systems
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Nonlinear Science"
DOI: 10.1007/s00332-017-9406-1
Abstract: We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov’s problem, which is defined as the motion of a rigid body with… read more here.
Keywords: nonholonomic mechanical; control; control nonholonomic; mechanical systems ... See more keywords
Tracking control of nonholonomic mobile agents with external disturbances and input delay.
Sign Up to like & getrecommendations! Published in 2018 at "ISA transactions"
DOI: 10.1016/j.isatra.2018.03.018
Abstract: This paper investigates the tracking control problem of chained-form nonholonomic multiagent systems (MASs). In contrast to the existing works in which some algorithms have been designed for ideal conditions, the destructive factors including external disturbances… read more here.
Keywords: tracking control; control nonholonomic; disturbances input; external disturbances ... See more keywords
Optimal Control of Nonholonomic Systems via Magnetic Fields
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DOI: 10.1109/lcsys.2022.3226715
Abstract: Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled… read more here.
Keywords: control; via magnetic; nonholonomic systems; control nonholonomic ... See more keywords