nonholonomic system


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nonholonomic system

[¦nän‚häl·ə′näm·ik ′sis·təm]
(mechanics)
A system of particles which is subjected to constraints of such a nature that the system cannot be described by independent coordinates; examples are a rolling hoop, or an ice skate which must point along its path.
McGraw-Hill Dictionary of Scientific & Technical Terms, 6E, Copyright © 2003 by The McGraw-Hill Companies, Inc.
References in periodicals archive ?
According to the Frobenius theorem, SBMS has been shown to be a nonholonomic system.
Morse, "Logic-based switching control of a nonholonomic system with parametric modeling uncertainty," Systems & Control Letters, vol.
Chang and Fu [11] proposed dynamic state feedback formation control for achieving the realization of the multirobot formation system with respect to the problem of dilation of a formation shape and stabilization issue in a nonholonomic system simultaneously.
During the past few years, the SMC strategy has been also applied to the nonholonomic system control [18-21].
In a leader/follower formation, the lead robot is controlled through a nonholonomic system, meaning that the trajectory is set in advance, and the followers are tracing the same pattern that the leader takes by using sonar.
The first example is a unicycle model (nonholonomic system) and the second is a two-link planar manipulator model (holonomic system).
If the Pfaff system (5.1) is not completely integrable (nonholonomic system), then for any point a G D does exist some integral curves at a only and it is possible that integral manifolds of maximum dimension do not exist at certain points.
The purpose of tuning [b.sub.0] is to improve the robustness of nonholonomic system and decrease the sensitivity for initial condition error at the expense of [d.sub.a] increase.
In the robot stabilization problem, according to [3], it is known that a nonholonomic system cannot be asymptotically stabilized at an equilibrium point using a differentiable control law, despite the system's being completely controllable.
Mathematical Model of Nonholonomic System. The kinematic model for a drift-free nonholonomic system is given as
A Framework for the Stabilization of General Nonholonomic Systems With an Application to the Plate-Ball Mechanism.