A comparison of vakonomic and nonholonornic dynamics for systems on Lie groups

被引：1

作者：

Jozwikowski, Michal ^{[1
]}

Respondek, Witold ^{[2
]}

机构：

[1] Polish Acad Sci, Ctr Theoret Phys, PL-00901 Warsaw, Poland

[2] Normandie Univ, INSA Rouen, Math Lab, Rouen, France

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 13期

关键词：

contrained dynamics; vakonomic; nonholonomic; variational principles;

D O I：

10.1016/j.ifacol.2015.10.218

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study relations between vakmonnically and nonholonomically constrained dynamics for the same set of linear constraints for a Lagrangian system on a Lie group. We obtain necessary and sufficient conditions under which a nonholomic trajectory is also a vakonomic one. Concrete example of a two-wheeled carriage with a shifted center of mass is discussed. (C) 2015, ILAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：81 / 86

页数：6

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