Repository logo
 
Publication

Controllability of the kinematic equations describing pure rolling of Grassmannians

dc.contributor.authorPina, Fátima
dc.date.accessioned2024-03-25T12:34:23Z
dc.date.available2024-03-25T12:34:23Z
dc.date.issued2018
dc.description.abstractThis paper studies the controllability properties of certain nonholonomic control systems, describing the rolling motion of Grassmann manifolds over the affine tangent space at a point. The control functions correspond to the freedom of choosing the rolling curve. The nonholonomic constraints are imposed by the no-slip and no-twist conditions on the rolling. These systems are proved to be controllable in some submanifold of the group of isometries of the space where the two rolling manifolds are embedded. The constructive proof of controllability is also addressedpt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.urihttp://hdl.handle.net/10400.26/50389
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.subjectGrassmann manifoldpt_PT
dc.subjectLie group of isometriespt_PT
dc.subjectrolling motionspt_PT
dc.subjectno-slip, no-twistpt_PT
dc.subjectLie algebraspt_PT
dc.subjectbracket generating propertypt_PT
dc.subjectcontrollabilitypt_PT
dc.titleControllability of the kinematic equations describing pure rolling of Grassmannianspt_PT
dc.typejournal article
dspace.entity.typePublication
person.familyNameAlves de Pina
person.givenNameMaria de Fátima
person.identifier.ciencia-id3C1A-EBA6-9AAD
person.identifier.orcid0000-0003-3738-1153
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublication78bb10fe-0970-4188-8f85-26a3dd25c379
relation.isAuthorOfPublication.latestForDiscovery78bb10fe-0970-4188-8f85-26a3dd25c379

Files

Original bundle
Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
Controlo2018_IEEE_FPina_FLeite.pdf
Size:
237.64 KB
Format:
Adobe Portable Document Format
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.85 KB
Format:
Item-specific license agreed upon to submission
Description: