Dinamika Sistem Mekanik dengan Kendala Tak Holonomik pada Ruang Konfigurasi R2 T2 dan e2 T2
Tricycle is a simple example of locomotion systems with nonholonomic constraints. Nonholonomic constraints involve velocities of the system and restrict the motion of the system in the phase space. A mechanical system is described by a Riemannan manifold and suitable mathematical objects â��livingâ�...
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| Format: | Thesis |
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[Yogyakarta] : Universitas Gadjah Mada
2011
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| Summary: | Tricycle is a simple example of locomotion systems with nonholonomic constraints.
Nonholonomic constraints involve velocities of the system and restrict the
motion of the system in the phase space. A mechanical system is described by a
Riemannan manifold and suitable mathematical objects �living� there. The dynamic
of tricycle played on the plane as well as on oblate spheroidal surface has been formulated
by making use of the so-called Port Controlled Hamiltonian System (PCHS)
method. Unfortunately, this method still leaves undetermined Lagrangian multipliers.
It is also difficult to determine the basis that vanishing constraint one-form and diagonalizing
the inertia metric. The dynamic is then formulated by making use of
another method which is more systematic, that is so-called constrained Levi-Civita
connection. The method describes system subjected to nonholonomic constraints and
external forces, so the Lagrangian multipliers can be eliminated from the equations. |
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