This condition implies that the attitude motion in three dimensions is controlled by applying nonlinear control methods utilizing nonholonomic constraint
of a FFRB unless the inertial moments of principal axes I and II are equal.
However, in a land vehicle positioning system, since the lateral nonholonomic constraint
is violated by a side slip during either cornering or change in road and tire conditions , the positioning accuracy would be degraded.
Hua, "Nonlinear control for tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint
," IEEE Transactions on Control Systems Technology, vol.
such that [C.sup.h] and [C.sup.nh] are the holonomic and nonholonomic constraint
Transformation singularities add a second level of difficulty: we must take into account both transformation singularities and nonholonomic constraint
. In order to solve transformation singularity problem, the path in chained form space should remain in the singularity-free regions.
The development of MMS mainly involves two classical items, namely, motion planning [3-8] and coordinating control [9-13], which are used to overcome the mobile platform's nonholonomic constraint
and make the MMS move quickly and efficiently.
The kinematic model for the robot with the nonholonomic constraint
of pure rolling and nonslipping is
Huo, "Tracking control of mobile robots with nonholonomic constraint
," Acta Automatica Sinica, vol.
So, the second component equation of (2) behaves as a nonholonomic constraint
, which is a nonintegrable relation involving not only the generalized coordinates and velocities but also the generalized accelerations 23].
We have no slippage (i.e., [mathematical expression not reproducible]) and pure rolling (i.e., [mathematical expression not reproducible]) of the car-like mobile robot which generate the nonholonomic constraints
on the system.
Lyon, "A min-time analysis of three trajectories with curvature and nonholonomic constraints
using a parallel parking criterion," JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing, vol.
(1) Section 1 develops a dynamic output tracking error model combining moving target and extended dynamic nonholonomic chained-form systems to achieve trajectory tracking without nonholonomic constraints
regarding the more general and more practical moving target tracking situations.