Control strategies for mechanical systems with various constraints-control of non-holonomic systems

Investigates control strategies for nonholonomic mechanical systems subject to various constraints. First, for driftless systems which are transformable to chained forms, we compare three existing strategies including a time-state based controller proposed by the authors. They are mainly examined through an application to a well-known wheeled vehicle system; numerical simulations help to see their practical advantages and drawbacks. Secondly, we describe a ball-and-plate problem which is not transformable to chained form and propose a feedback type strategy for it by modifying the time-state-control form based controller. Thirdly, we deal with a control problem of a flying object with non-zero initial angular momentum, which is modeled as state equation with drift term, no configurations of which are equilibria. We also propose a feedback controller via time-varying coordinate transformation by constructing an appropriate problem formulation.