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    JNS
    2008
    76views more  JNS 2008»
    Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
    13 years 4 months ago
    Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
    Download  www.simumat.es
    This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to de...
    David Iglesias, Juan C. Marrero, David Martí...
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    CDC
    2009
    IEEE
    125views Control Systems» more  CDC 2009»
    Finite-time tracking controller design for a general class of nonholonomic systems
    13 years 8 months ago
    Finite-time tracking controller design for a general class of nonholonomic systems
    Download  www.nt.ntnu.no
    Abstract— A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems,...
    Yuqiang Wu, Ruiying Yuan, Xiuyun Zheng
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