Publication detail

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

HRDINA, J.

English title

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

Type

journal article in Web of Science

Language

en

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 in English

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

Released

24.05.2017

Publisher

Universit`a del Salento

Location

Salento

ISSN

1123-2536

Volume

37

Number

suppl. 1

Pages from–to

93–102

Pages count

10

BIBTEX


@article{BUT136070,
  author="Jaroslav {Hrdina},
  title="Local controllability of trident snake robot based on sub-Riemannian extremals",
  year="2017",
  volume="37",
  number="suppl. 1",
  month="May",
  pages="93--102",
  publisher="Universit`a del Salento",
  address="Salento",
  issn="1123-2536"
}