Control Problems for Nonholonomic Dynamic Systems

研究目标是发展基本的见解，包括明确的控制设计程序，以控制受非完整约束的机械系统（即，以滚动无滑动为特征的系统）。已经证明，使用经典的非线性控制方法无法实现适当的控制，本项目的目的是开发与这类动力学问题一致的方法。这些方法涉及微分几何中的数学概念。几类重要的工程控制问题，包括几类具有航天应用的问题，为本研究提供了强大的动力。* * * / /

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.*** //