Controlling nonholonomic Chaplygin systems

AUTOR(ES)

Antunes, Antonio Carlos Baptista, Sigaud, Cássio, Moraes, Pedro Claudio Guaranho de

FONTE

Brazilian Journal of Physics

DATA DE PUBLICAÇÃO

2010-06

RESUMO

In this paper we deal with the problem of controlling some Chaplygin systems in the framework of the vakonomic approach for nonholonomic systems. Equations of motion for these systems are obtained which contain a free parameter that permits to control the system. It is show that given a prescribed path it is possible to determine the parameter of control which inserted in the equations of motion compel the trajectory of the system to follow the input function.

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