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
  • [31] Stabilizability and motion tracking conditions for mechanical nonholonomic control systems
    Jarzebowska, Elzbieta
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2007, 2007
  • [32] Adaptive impedance control of mechanical systems with classical nonholonomic constraints
    Ge, SS
    Lee, TH
    Wang, J
    PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01), 2001, : 960 - 965
  • [33] Tracking control design for nonholonomic mechanical systems with affine constraints
    Sun, Wei
    Wu, Yu-Qiang
    Sun, Zong-Yao
    International Journal of Automation and Computing, 2014, 11 (03) : 328 - 333
  • [34] Tracking control design for nonholonomic mechanical systems with affine constraints
    Sun W.
    Wu Y.-Q.
    Sun Z.-Y.
    International Journal of Automation and Computing, 2014, 11 (3) : 328 - 333
  • [35] Control of uncertain nonholonomic mechanical systems using reduction and adaption
    Colbaugh, R
    Barany, E
    PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1997, : 3847 - 3853
  • [36] Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints
    Wei Sun
    YuQiang Wu
    ZongYao Sun
    International Journal of Automation & Computing, 2014, 11 (03) : 328 - 333
  • [37] Robust motion tracking control of partially nonholonomic mechanical systems
    Wang, J
    Su, CY
    Oya, M
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 4608 - 4613
  • [38] Control of uncertain nonholonomic mechanical systems using differential flatness
    Barany, E
    Glass, K
    Colbaugh, R
    PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1998, : 917 - 921
  • [39] Integrators for nonholonomic mechanical systems
    McLachlan, R.
    Perlmutter, M.
    JOURNAL OF NONLINEAR SCIENCE, 2006, 16 (04) : 283 - 328
  • [40] ABNORMAL MINIMIZERS
    MONTGOMERY, R
    SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 1994, 32 (06) : 1605 - 1620
12345