6 papers
Virtual Constraint for a Quadrotor UAV Enforcing a Body-Axis Pointing Direction
Alexandre Anahory Simoes, Leonardo Colombo, Juan Giribet +1
We propose a geometric control framework on for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded throu…
Virtual Holonomic and Nonholonomic Constraints on Lie groups
A. Anahory Simoes, A. Bloch, L. Colombo +1
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and vir…
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…
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…
Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution…
Geometric stabilization of virtual linear nonholonomic constraints
Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo +1
In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic cons…