TY - JOUR
T1 - Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group
JF - Syst. Control Lett. 50 (2003) 241-250
Y1 - 2003
A1 - Claudio Altafini
A1 - Ruggero Frezza
AB - For 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.
PB - Elsevier
UR - http://hdl.handle.net/1963/3018
U1 - 1315
U2 - Mathematics
U3 - Functional Analysis and Applications
ER -