Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints

详细信息	查看全文 | 推荐本文 |

• 作者：Tatsuya Kai ; ^{kai@ees.kyushu-u.ac.jp}
• 关键词：Rheonomous affine constraints ; Rheonomous bracket ; Complete nonholonomicity ; Nonholonomic kinematic systems ; Linearly-approximated systems ; Accessibility
• 刊名：Applied Mathematical Modelling
• 出版年：2012
• 期刊代码：6_0307904x
• 类别：cp
• 出版时间：July, 2012
• 卷：36
• 期：7
• 页码：3189-3200
• 文件大小：416 K

摘要

In this paper, we deal with kinematic control systems subject to a class of rheonomous affine constraints. We first define A-rheonomous affine constraints and explain a geometric representation method for them. Next, we derive a necessary and sufficient condition for complete nonholonomicity of the A-rheonomous affine constraints. Then, a mathematical model of nonholonomic kinematic systems with A-rheonomous affine constraints (NKSARAC), which is included in the class of nonlinear affine control systems, is introduced. Theoretical analysis on linearly-approximated systems and accessibility for the NKSARAC is also shown. Finally, we apply the results to some physical examples in order to confirm the effectiveness of them.