This book provides a unified, practically-oriented treatment to many constrained control paradigms. Recently proposed control strategies are unified in a generalised framework to deal with different kinds of constraints. ...

Abstract. In this paper a DAE formulation is used to model the behaviour of constrained robotic systems. This formulation allows to specify in an easy and clear way the constrained behaviour of a robotic system. In ...

© 2018 IOP Publishing Ltd. A general mathematical expression to estimate the temperature in computer simulations of constrained systems is obtained. Using a recently derived theorem which relates the ensemble average of ...

This paper is concerned with a geometric study of (��n−1)-parameter families of constrained differential systems, where n≥ 2. Our main results say that the dynamics of such a family close to the impasse set is equivalent ...

In this work we discuss the natural appearance of the Generalized Brackets in systems with non-involutive (equivalent to second class) constraints in the Hamilton-Jacobi formalism. We show how a consistent geometric ...

In this work we discuss the natural appearance of the Generalized Brackets in systems with non-involutive (equivalent to second class) constraints in the Hamilton-Jacobi formalism. We show how a consistent geometric ...