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arXiv · 1901.10374

Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach

Aradhana Nayak·Rodrigo Sato Martín de Almagro·Leonardo Colombo·David Martín de Diego
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Abstract

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory evolving on the distribution which defines the nonholonomic constraints. We prepose a geometric framework since it describes the class of nonlinear systems under study in a coordinate-free framework. Necessary conditions for the existence of extrema are determined by the Pontryagin Minimum Principle. A nonholonomic fully actuated particle is used as a benchmark example to show how the proposed method is applied.

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Aradhana Nayak, Rodrigo Sato Martín de Almagro, Leonardo Colombo, David Martín de Diego. 2019-01-29. Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach. https://arxiv.org/abs/1901.10374

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