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arXiv · 2411.01692

Geometric stabilization of virtual linear nonholonomic constraints

Alexandre Anahory Simoes·Anthony Bloch·Leonardo Colombo·Efstratios Stratoglou
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Abstract

In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic constraint that is control invariant via the same feedback control. Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Virtual nonholonomic constraints, similarly to mechanical nonholonomic constraints, are a class of virtual constraints that depend on velocities rather than only on the configurations of the system.

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Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo, Efstratios Stratoglou. 2024-11-03. Geometric stabilization of virtual linear nonholonomic constraints. https://arxiv.org/abs/2411.01692

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