Control of nonholonomic systems using reference vector fields

2011 ◽  
Author(s):  
Dimitra Panagou ◽  
Herbert G. Tanner ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Vector Fields ◽  
Nonholonomic Systems ◽  
Reference Vector

Control Design for a Class of Nonholonomic Systems Via Reference Vector Fields and Output Regulation

2015 ◽  
Vol 137 (8) ◽  
Author(s):  
Dimitra Panagou ◽  
Herbert G. Tanner ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Vector Field ◽  
Vector Fields ◽  
Nonholonomic Systems ◽  
Output Regulation ◽  
Reference Vector ◽  
Constraint Matrix ◽  
Nonholonomic Control ◽  
System States ◽  
Induced Decomposition ◽  
Output Regulation Problem

This paper presents procedural guidelines for the construction of discontinuous state feedback controllers for driftless, kinematic nonholonomic systems, with extensions to a class of dynamic nonholonomic systems with drift. Given an n-dimensional kinematic nonholonomic system subject to κ Pfaffian constraints, system states are partitioned into “leafwise” and “transverse,” based on the structure of the Pfaffian constraint matrix. A reference vector field F is defined as a function of the leafwise states only in a way that it is nonsingular everywhere except for a submanifold containing the origin. The induced decomposition of the configuration space, together with requiring the system vector field to be aligned with F, suggests choices for Lyapunov-like functions. The proposed approach recasts the original nonholonomic control problem as an output regulation problem, which although nontrivial, may admit solutions based on standard tools.

Parallel Computation of Complex Antennas around the Coated Object Using Iterative Vector Fields Technique

2014 ◽  
Vol E97.C (7) ◽  
pp. 661-669
Author(s):  
Ying YAN ◽  
Xunwang ZHAO ◽  
Yu ZHANG ◽  
Changhong LIANG ◽  
Zhewang MA
Keyword(s):  
Parallel Computation ◽  
Vector Fields

Spacetime symmetries

2018 ◽  
Author(s):  
Michael Kachelriess
Keyword(s):  
Riemannian Manifold ◽  
Conservation Laws ◽  
Vector Fields ◽  
Killing Vector ◽  
Geodesic Equation ◽  
Spacetime Symmetries ◽  
Tensor Fields ◽  
Killing Vector Fields ◽  
Covariant Derivatives ◽  
Killing Equation

This chapter introduces tensor fields, covariant derivatives and the geodesic equation on a (pseudo-) Riemannian manifold. It discusses how symmetries of a general space-time can be found from the Killing equation, and how the existence of Killing vector fields is connected to global conservation laws.

On flows generated by vector fields with compact support

2018 ◽  
Vol 75 (2) ◽  
pp. 121-157 ◽  
Author(s):  
Olivier Kneuss ◽  
Wladimir Neves
Keyword(s):  
Compact Support ◽  
Vector Fields
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