Title :
On the nonlinear modeling of systems with higher-order nonholonomic constraints
Author :
Hervas, Jaime Rubio ; Reyhanoglu, M.
Author_Institution :
Phys. Sci. Dept., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
Abstract :
This paper studies the nonlinear modeling problem for systems with higher-order nonholonomic constraints using tools from theoretical mechanics. A general control systems approach is developed for such systems. The applicability of the theoretical development is illustrated through a point mass moving on a constant-torsion space curve.
Keywords :
constraint theory; control system synthesis; nonlinear dynamical systems; constant torsion space curve; control systems approach; higher-order nonholonomic constraints; nonlinear system modeling; point mass moving; Bismuth; Manganese; Robots; Higher-order nonholonomic systems;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6704064
