DocumentCode
669498
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
fYear
2013
fDate
20-23 Oct. 2013
Firstpage
1009
Lastpage
1013
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location
Gwangju
ISSN
2093-7121
Print_ISBN
978-89-93215-05-2
Type
conf
DOI
10.1109/ICCAS.2013.6704064
Filename
6704064
Link To Document