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Virtual nonlinear nonholonomic constraints from a symplectic point of view
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
In this paper, we provide a geometric characterization of virtual nonlinear nonholonomic constraints from a symplectic perspective. Under a transversality assumption, there is a un…
Retraction maps in optimal control of nonholonomic systems
Alexandre Anahory Simoes, María Barbero Liñán, Anthony Bloch +2
In this paper, we compare the performance of different numerical schemes in approximating Pontryagin's Maximum Principle's necessary conditions for the optimal control of nonholono…
Geometric Stabilization of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationsh…