Nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
TL;DR
This paper develops equations of motion for nonholonomic systems with inequality constraints in both continuous and discrete time, using a variational principle, and illustrates the results with an example.
Contribution
It introduces a novel discretization method for nonholonomic systems with inequality constraints based on a variational principle.
Findings
Derived equations of motion for continuous-time systems
Established a discretization approach for these systems
Validated the approach with a practical example
Abstract
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined the equations of motion for a nonholonomic system subject to inequality constraints. An example is show to illustrate the theoretical results.
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Dynamics and Control of Mechanical Systems · Contact Mechanics and Variational Inequalities