{"paper":{"title":"Constraint Control of Nonholonomic Mechanical Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.DS"],"primary_cat":"math.OC","authors_text":"Stuart Rogers, Vakhtang Putkaradze","submitted_at":"2016-10-08T23:16:25Z","abstract_excerpt":"We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection of the body frame angular velocity on a given direction $\\boldsymbol{\\xi}$. We derive the optimal control formulation, first for an arbitrary group, and then in the classical realization of Suslov's problem for the rotation group $SO(3)$. We show that it is possible to control the system using the constraint $\\boldsymbol{\\xi}(t)$ and demonstrate numerical ex"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.02595","kind":"arxiv","version":17},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}