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- W4315706530 abstract "Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual affine nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant affine distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual affine nonholonomic constraint." @default.
- W4315706530 created "2023-01-12" @default.
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- W4315706530 date "2023-01-10" @default.
- W4315706530 modified "2023-10-16" @default.
- W4315706530 title "Virtual Affine Nonholonomic Constraints" @default.
- W4315706530 doi "https://doi.org/10.48550/arxiv.2301.03890" @default.
- W4315706530 hasPublicationYear "2023" @default.
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