Abnormal Minimizers in Nonholonomic Mechanical Control Systems

被引：0
|
作者：
Xia Qianqian [1 ]
Geng Zhiyong [1 ]
机构：
[1] Peking Univ, Coll Engn, Dept Mech & Aerosp Engn, Beijing 100871, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
abnormal extremals; nonholonomic mechanical control systems; Pontryagain's Maximum Principle;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, it is concerned with the problem of finding abnormal minimizers in nonholonomic mechanical control systems. Relations between nonholonomic mechanical and kinematic optimal control problems are established. For rank-two distributions, the abnormal minimizers in kinematic control systems are used to get abnormal minimizers for the length-minimizing problem in the corresponding nonholonomic mechanical control systems. Finally our ideas are illustrated by considering examples of nonholonomic mechanical systems.
引用
收藏
页码：2377 / 2381
页数：5
相关论文
共 50 条
  • [1] On control of underactuated nonholonomic mechanical systems
    Dong, Wen-Jie
    Xu, Wen-Li
    Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2001, 22 (06): : 525 - 528
  • [2] Constraint Control of Nonholonomic Mechanical Systems
    Putkaradze, Vakhtang
    Rogers, Stuart
    JOURNAL OF NONLINEAR SCIENCE, 2018, 28 (01) : 193 - 234
  • [3] Learning control for nonholonomic mechanical systems
    Colbaugh, R
    Glass, K
    NONLINEAR CONTROL SYSTEMS DESIGN 1998, VOLS 1& 2, 1998, : 745 - 750
  • [4] Constraint Control of Nonholonomic Mechanical Systems
    Vakhtang Putkaradze
    Stuart Rogers
    Journal of Nonlinear Science, 2018, 28 : 193 - 234
  • [5] Adaptive control of nonholonomic mechanical systems
    Colbaugh, R
    Barany, E
    Glass, K
    PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 1428 - 1434
  • [6] STRICT ABNORMAL EXTREMALS IN NONHOLONOMIC AND KINEMATIC CONTROL SYSTEMS
    Barbero-Linan, Maria
    Munoz-Lecanda, Miguel C.
    DISCRETE AND CONTINUOUS DYNAMICAL SYSTEMS-SERIES S, 2010, 3 (01): : 1 - 17
  • [7] Optimal control of underactuated nonholonomic mechanical systems
    Hussein, Islam I.
    Bloch, Anthony M.
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (03) : 668 - 682
  • [8] Learning control for uncertain nonholonomic mechanical systems
    Colbaugh, R
    Glass, K
    PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 3117 - 3122
  • [9] Analysis and control of redundant nonholonomic mechanical systems
    Colbaugh, R
    Trabatti, M
    Glass, K
    PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1998, : 13 - 15
  • [10] On mechanical control systems with nonholonomic constraints and symmetries
    Bullo, R
    Zefran, M
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 1741 - 1746
12345