Virtual Affine Nonholonomic Constraints Article Swipe

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Efstratios Stratoglou , Alexandre Anahory Simoes , Anthony M. Bloch , Leonardo Colombo ·

YOU? · · 2023 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2301.03890 · OA: W4315706530

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.