A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups∗. Issue 13 (2015)
- Record Type:
- Journal Article
- Title:
- A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups∗. Issue 13 (2015)
- Main Title:
- A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups∗
- Authors:
- Jóźwikowski, Michał
Respondek, Witold - Abstract:
- Abstract: We study relations between vakonomically and nonholonomically constrained dynamics for the same set of linear constraints for a Lagrangian system on a Lie group. We obtain necessary and sucient 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.
- Is Part Of:
- IFAC-PapersOnLine. Volume 48:Issue 13(2015)
- Journal:
- IFAC-PapersOnLine
- Issue:
- Volume 48:Issue 13(2015)
- Issue Display:
- Volume 48, Issue 13 (2015)
- Year:
- 2015
- Volume:
- 48
- Issue:
- 13
- Issue Sort Value:
- 2015-0048-0013-0000
- Page Start:
- 81
- Page End:
- 86
- Publication Date:
- 2015
- Subjects:
- contrained dynamics -- vakonomic -- nonholonomic -- variational principles
Automatic control -- Periodicals
629.805 - Journal URLs:
- https://www.journals.elsevier.com/ifac-papersonline/ ↗
http://www.sciencedirect.com/ ↗ - DOI:
- 10.1016/j.ifacol.2015.10.218 ↗
- Languages:
- English
- ISSNs:
- 2405-8963
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 5726.xml