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Passive Decomposition and Control of Nonholonomic Mechanical Systems.
- Source :
-
IEEE Transactions on Robotics . 12/01/2010, Vol. 26 Issue 6, p978-992. 15p. - Publication Year :
- 2010
-
Abstract
- We propose nonholonomic passive decomposition, which enables us to decompose the Lagrange–D’Alembert dynamics of multiple (or a single) nonholonomic mechanical systems with a formation-specifying (holonomic) map h into 1) shape system, describing the dynamics of h(q) (i.e., formation aspect), where q \in \Re^n is the systems’ configuration; 2) locked system, describing the systems’ motion on the level set of h with the formation aspect h(q) being fixed (i.e., maneuver aspect); 3) quotient system, whose nonzero motion perturbs both the formation and maneuver aspects simultaneously; and 4) energetically conservative inertia-induced coupling among them. All the locked, shape, and quotient systems individually inherit Lagrangian dynamics-like structure and passivity, which facilitate their control design/analysis. Canceling out the coupling, regulating the quotient system, and controlling the locked and shape systems individually, we can drive the formation and maneuver aspects simultaneously and separately. Notions of formation/maneuver decoupled controllability are introduced to address limitations imposed by the nonholonomic constraint, along with passivity-based formation/maneuver control design examples. Numerical simulations are performed to illustrate the theory. Extension to kinematic nonholonomic systems is also presented. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 26
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 57252924
- Full Text :
- https://doi.org/10.1109/TRO.2010.2082430