Detail publikačního výsledku

Local controllability of trident snake robot based on sub-Riemannian extremals

HRDINA, J.

Original Title

Local controllability of trident snake robot based on sub-Riemannian extremals

English Title

Local controllability of trident snake robot based on sub-Riemannian extremals

Type

WoS Article

Original Abstract

To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism.

English abstract

To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism.

Keywords

local controllability; nonholonomic mechanics; planar mechanisms; sub–Riemannian geometry; differential geometry

Key words in English

local controllability; nonholonomic mechanics; planar mechanisms; sub–Riemannian geometry; differential geometry

Authors

HRDINA, J.

RIV year

2018

Released

24.05.2017

Publisher

Universit`a del Salento

Location

Salento

ISBN

1123-2536

Periodical

Note di Matematica

Volume

37

Number

suppl. 1

State

Republic of Italy

Pages from

93

Pages to

102

Pages count

10

URL

http://siba-ese.unisalento.it/index.php/notemat/article/view/17176

Full text in the Digital Library

http://hdl.handle.net/11012/69390

BibTex

@article{BUT136070,
  author="Jaroslav {Hrdina}",
  title="Local controllability of trident snake robot based on sub-Riemannian extremals",
  journal="Note di Matematica",
  year="2017",
  volume="37",
  number="suppl. 1",
  pages="93--102",
  doi="10.1285/i15900932v37supp11p93",
  issn="1123-2536",
  url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17176"
}

Documents

17176-122530-1-PB