Nonholonomic systems: Controllability and complexity
نویسندگان
چکیده
منابع مشابه
Feedback Control and Nonlinear Controllability of Nonholonomic Systems
(ABSTRACT) In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motio...
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When the generalized velocity of a mechanical system satis es an equality condition that cannot be written as an equivalent condition on the generalized position, the system is called a nonholonomic system [1, 2]. Nonholonomic condition may arise from constraints such as pure rolling of a wheel or from physical conservation laws such as the conservation of angular momentum of a free oating body...
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ژورنال
عنوان ژورنال: Theoretical Computer Science
سال: 1996
ISSN: 0304-3975
DOI: 10.1016/0304-3975(95)00178-6