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
收藏
页码：81 / 86
页数：6
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