or a control system on a matrix Lie group with one or more configuration constraints that are not left/right invariant, finding the combinations of (kinematic) control inputs satisfying the motion constraints is not a trivial problem. Two methods, one coordinate-dependent and the other coordinate-free are suggested. The first is based on the Wei-Norman formula; the second on the calculation of the annihilator of the coadjoint action of the constraint one-form at each point of the group manifold. The results are applied to a control system on SE(3) with a holonomic inertial constraint involving the noncommutative part in a nontrivial way. The difference in terms of compactness of the result between the two methods is considerable.
|Titolo:||Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group|
|Autori:||ALTAFINI C; R. FREZZA|
|Rivista:||SYSTEMS & CONTROL LETTERS|
|Data di pubblicazione:||2003|
|Digital Object Identifier (DOI):||10.1016/S0167-6911(03)00168-3|
|Appare nelle tipologie:||1.1 Journal article|