On Equations of Motion and Control for Systems with Nonholonomic Equality Constraints

Abstract

A procedure to derive the equation of motion for a class of systems under nonholonomic equality constraints is discussed in detail. Two approaches, namely, adjoining and embedding, to derive equations of motion without Lagrange multiplier are introduced. The equations of motion for systems with nonholonomic constraints are then transformed into a format used in non-constrained problems. The final formulation is suitable for control design. We also address a new robust control design.