Detail publikace

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

HRDINA, J.

Anglický název

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

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

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

Vydáno

24.05.2017

Nakladatel

Universit`a del Salento

Místo

Salento

ISSN

1123-2536

Ročník

37

Číslo

suppl. 1

Strany od–do

93–102

Počet stran

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"
}