Degeneration of nonholonomic constraints and Ferrers equations

被引：0

作者：

Zakalyukin, I. V. ^{[1
]}

机构：

[1] Moscow Inst Aviat Technol, Moscow, Russia

来源：

JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS | 2010年 / 16卷 / 03期

关键词：

Nonnolonomic constraint; degeneration; slow fast system; COMPLEXITY;

D O I：

10.1007/s10883-010-9100-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We consider the asymptotic behavior of a mechanical system with linear nonholonomic constraints near the submanifold where the rank of the constraint equations drops by one. An example of such a system consisting of a beam with two skates attached at the endpoints is described. We show that the system behavior is similar to that of the system with slow-fast variables. The results may be of interest for the control problems in similar systems.

引用

页码：439 / 452

页数：14

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