Control Problems for Nonholonomic Dynamic Systems

研究的目标是发展基本的洞察力， 包括明确的控制设计程序， 受到非完整约束的机械系统（即， 以滚动而不滑动为特征的系统）。 已经 证明使用以下方法无法实现适当的控制 经典的非线性控制方法，这个项目的 目的是开发与此类一致的方法 动力学问题。 这些方法涉及数学 微分几何的概念。 强烈的动机是 为这项研究提供了几个重要的类， 工程控制问题，包括几类 航空航天应用问题 * //

The research objective is to develop fundamental insight, including explicit control design procedures, for control of mechanical systems subject to nonholonomic constraints (i.e., systems characterized by rolling without slipping). It has been demonstrated that suitable control cannot be achieved using classical nonlinear control methodologies, and this project's intent is to develop methods which are consistent with this class of dynamics problems. These methods involve mathematical concepts from differential geometry. Strong motivation is provided for this research by several important classes of engineering control problems, including several classes of problems with aerospace applications.*** //