Theoretical analysis on nonholonomic dynamic systems with affine constraints

Tatsuya Kai; Hidenori Kimura

Theoretical analysis on nonholonomic dynamic systems with affine constraints

Tatsuya Kai, Hidenori Kimura

Department of Applied Electronics

Research output: Contribution to conference › Paper › peer-review

3 Citations (Scopus)

Abstract

This paper deals with affine constraints and nonholonomic systems. We first derive nonholonomic dynamic systems with affine constraints under assumption of complete nonintegrability. We next show that the system is strongly locally accessible at any zero-velocity point and small-time locally controllable at any equilibrium under Sussmann's condition. Moreover a necessary condition of locally asymptotic stabilizability at any equilibrium is derived. Finally, we show a physical example for verification of our theory.

Original language	English
Pages	2465-2470
Number of pages	6
Publication status	Published - 1 Dec 2004
Event	SICE Annual Conference 2004 - Sapporo, Japan Duration: 4 Aug 2004 → 6 Aug 2004

Conference

Conference	SICE Annual Conference 2004
Country/Territory	Japan
City	Sapporo
Period	4/08/04 → 6/08/04

Keywords

Affine Constraints
Complete Nonintegrability
Nonholonomic Dynamic Systems

Cite this

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title = "Theoretical analysis on nonholonomic dynamic systems with affine constraints",

abstract = "This paper deals with affine constraints and nonholonomic systems. We first derive nonholonomic dynamic systems with affine constraints under assumption of complete nonintegrability. We next show that the system is strongly locally accessible at any zero-velocity point and small-time locally controllable at any equilibrium under Sussmann's condition. Moreover a necessary condition of locally asymptotic stabilizability at any equilibrium is derived. Finally, we show a physical example for verification of our theory.",

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TY - CONF

T1 - Theoretical analysis on nonholonomic dynamic systems with affine constraints

AU - Kai, Tatsuya

AU - Kimura, Hidenori

PY - 2004/12/1

Y1 - 2004/12/1

N2 - This paper deals with affine constraints and nonholonomic systems. We first derive nonholonomic dynamic systems with affine constraints under assumption of complete nonintegrability. We next show that the system is strongly locally accessible at any zero-velocity point and small-time locally controllable at any equilibrium under Sussmann's condition. Moreover a necessary condition of locally asymptotic stabilizability at any equilibrium is derived. Finally, we show a physical example for verification of our theory.

AB - This paper deals with affine constraints and nonholonomic systems. We first derive nonholonomic dynamic systems with affine constraints under assumption of complete nonintegrability. We next show that the system is strongly locally accessible at any zero-velocity point and small-time locally controllable at any equilibrium under Sussmann's condition. Moreover a necessary condition of locally asymptotic stabilizability at any equilibrium is derived. Finally, we show a physical example for verification of our theory.

KW - Affine Constraints

KW - Complete Nonintegrability

KW - Nonholonomic Dynamic Systems

UR - https://www.scopus.com/pages/publications/12744254952

M3 - Paper

AN - SCOPUS:12744254952

SP - 2465

EP - 2470

T2 - SICE Annual Conference 2004

Y2 - 4 August 2004 through 6 August 2004

ER -

Theoretical analysis on nonholonomic dynamic systems with affine constraints

Abstract

Conference

Keywords

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Cite this