Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints

被引：15

作者：

Kai, Tatsuya ^{[1
]}

机构：

[1] Kyushu Univ, Fac Informat Sci & Elect Engn, Dept Elect Engn, Nishi Ku, Fukuoka 8190395, Japan

来源：

APPLIED MATHEMATICAL MODELLING | 2012年 / 36卷 / 07期

关键词：

Rheonomous affine constraints; Rheonomous bracket; Complete nonholonomicity; Nonholonomic kinematic systems; Linearly-approximated systems; Accessibility; EXPONENTIAL STABILIZATION; TRAJECTORY GENERATION; UNDERACTUATED ACROBOT; DYNAMIC-SYSTEMS; MOMENTUM;

D O I：

10.1016/j.apm.2011.10.015

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, we deal with kinematic control systems subject to a class of rheonomous affine constraints. We first define A-rheonomous affine constraints and explain a geometric representation method for them. Next, we derive a necessary and sufficient condition for complete nonholonomicity of the A-rheonomous affine constraints. Then, a mathematical model of nonholonomic kinematic systems with A-rheonomous affine constraints (NKSARAC), which is included in the class of nonlinear affine control systems, is introduced. Theoretical analysis on linearly-approximated systems and accessibility for the NKSARAC is also shown. Finally, we apply the results to some physical examples in order to confirm the effectiveness of them. (C) 2011 Elsevier Inc. All rights reserved.

引用

页码：3183 / 3194

页数：12

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