VNHC-Based Continuous Sliding Mode Control for an Underactuated Tethered UAV System
This article introduces a novel continuous sliding mode control strategy for transporting a
tethered payload by a UAV. A key contribution of this work is the development of a feasible …
tethered payload by a UAV. A key contribution of this work is the development of a feasible …
From Gymnastics to Virtual Nonholonomic Constraints: Energy Injection, Dissipation, and Regulation for the Acrobot
A Moran-MacDonald, M Maggiore… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
In this article, we study virtual nonholonomic constraints (VNHCs), which are relations
between the generalized coordinates and momenta of a mechanical system that can be …
between the generalized coordinates and momenta of a mechanical system that can be …
On the geometry of virtual nonlinear nonholonomic constraints
Virtual constraints are relations imposed on a control system that become invariant via
feedback control, as opposed to physical constraints acting on the system. Nonholonomic …
feedback control, as opposed to physical constraints acting on the system. Nonholonomic …
Virtual constraints on Riemannian homogeneous spaces
Virtual constraints are relations imposed on a control system which insure invariance via
feedback control, as opposed to physical constraints acting on the system. In this work, we …
feedback control, as opposed to physical constraints acting on the system. In this work, we …
Virtual Constraints on Lie groups
This paper studies virtual constraints on Lie groups. Virtual constraints are invariant relations
imposed on a control system via feedback. In this work, we introduce the notion of\textit …
imposed on a control system via feedback. In this work, we introduce the notion of\textit …
Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction
on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution …
on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution …
Geometric stabilization of virtual linear nonholonomic constraints
In this paper, we give sufficient conditions for and deduce a control law under which a
mechanical control system converges exponentially fast to a virtual linear nonholonomic …
mechanical control system converges exponentially fast to a virtual linear nonholonomic …