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Modeling and analysis of nonholonomic dynamic systems with a class of rheonomous affine constraints

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Abstract

This paper is devoted to modeling and theoretical analysis of dynamic control systems subject to a class of rheonomous affine constraints, which are called \(A\)-rheonomous affine constraints. We first define \(A\)-rheonomous affine constraints and explain their geometric representation. Next, a necessary and sufficient condition for complete nonholonomicity of \(A\)-rheonomous affine constraints is shown. Then, we derive nonholonomic dynamic systems with \(A\)-rheonomous affine constraints (NDSARAC), which are included in the class of nonlinear control systems. We also analyze linear approximated systems and accessibility for the NDSARAC. Finally, the results are applied to some physical examples in order to check the application potentiality.

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Authors and Affiliations

  1. Department of Applied Electronics, Faculty of Industrial Science and Technology, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo , 125-8585, Japan

    Tatsuya Kai

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  1. Tatsuya Kai
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Correspondence to Tatsuya Kai.

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Kai, T. Modeling and analysis of nonholonomic dynamic systems with a class of rheonomous affine constraints. Nonlinear Dyn 76, 1411–1422 (2014). https://doi.org/10.1007/s11071-013-1218-8

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  • DOI: https://doi.org/10.1007/s11071-013-1218-8

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