2015/09/03 by Valery Vasil'evich Kozlov, Kozlov, Valery V., Valery V. Kozlov
Engineering · Computer Science · #Control and Dynamics of Mobile Robots #Robotic Path Planning Algorithms #Dynamics and Control of Mechanical Systems
paper · pdf · doi:10.48550/arxiv.1509.01089
In this paper, the dynamics of nonholonomic systems on Lie groups with a\nleft-invariant kinetic energy and left-invariant constraints are considered.\nEquations of motion form a closed system of differential equations on the\ncorresponding Lie algebra. In addition, the effect of change in the stability\nof steady motions of these systems with the direction of motion reversed (the\nreversal found in rattleback dynamics) is discussed. As an illustration, the\nrotation of a rigid body with a fixed point and the Suslov nonholonomic\nconstraint as well as the motion of the Chaplygin sleigh is considered.\n