%0 Journal Article
%J Syst. Control Lett. 50 (2003) 241-250
%D 2003
%T Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group
%A Claudio Altafini
%A Ruggero Frezza
%X 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.
%B Syst. Control Lett. 50 (2003) 241-250
%I Elsevier
%G en_US
%U http://hdl.handle.net/1963/3018
%1 1315
%2 Mathematics
%3 Functional Analysis and Applications
%$ Submitted by Andrea Wehrenfennig (andreaw@sissa.it) on 2008-10-02T14:31:06Z\\nNo. of bitstreams: 1\\nclaruSCL.pdf: 174518 bytes, checksum: 3ccf0767619fa61ad2d126abba2999e5 (MD5)
%R 10.1016/S0167-6911(03)00168-3