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

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dc.contributor.authorHrdina, Jaroslavcs
dc.coverage.issuesuppl. 1cs
dc.coverage.volume37cs
dc.date.accessioned2020-08-04T11:03:12Z
dc.date.available2020-08-04T11:03:12Z
dc.date.issued2017-05-24cs
dc.description.abstractTo 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.en
dc.formattextcs
dc.format.extent93-102cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationNote di Matematica. 2017, vol. 37, issue suppl. 1, p. 93-102.en
dc.identifier.doi10.1285/i15900932v37supp11p93cs
dc.identifier.issn1123-2536cs
dc.identifier.other136070cs
dc.identifier.urihttp://hdl.handle.net/11012/69390
dc.language.isoencs
dc.publisherUniversit`a del Salentocs
dc.relation.ispartofNote di Matematicacs
dc.relation.urihttp://siba-ese.unisalento.it/index.php/notemat/article/view/17176cs
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 3.0 Unportedcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/1123-2536/cs
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/cs
dc.subjectlocal controllabilityen
dc.subjectnonholonomic mechanicsen
dc.subjectplanar mechanismsen
dc.subjectsub–Riemannian geometryen
dc.subjectdifferential geometryen
dc.titleLocal controllability of trident snake robot based on sub-Riemannian extremalsen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
sync.item.dbidVAV-136070en
sync.item.dbtypeVAVen
sync.item.insts2021.02.26 00:57:41en
sync.item.modts2021.02.26 00:15:14en
thesis.grantorVysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematikycs
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