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Virtual Affine Nonholonomic Constraints (2301.03890v1)

Published 10 Jan 2023 in math.OC, cs.SY, eess.SY, math-ph, and math.MP

Abstract: Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual affine nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant affine distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual affine nonholonomic constraint.

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