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Grant support

This work was supported by MCIN/AEI/10.13039/501100011033 under Grant PID2022-137909NBC21. The work of A. Bloch was supported in part by NSF under Grant DMS-2103026, and in part by AFOSR under Grant FA9550-22-1-0215 and Grant FA 9550-23-1-0400.

Analysis of institutional authors

Stratoglou, EfstratiosAuthor

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May 13, 2025
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On the Geometry of Virtual Nonlinear Nonholonomic Constraints

Publicated to:Ieee Transactions On Automatic Control. 70 (5): 3362-3369 - 2025-05-01 70(5), DOI: 10.1109/TAC.2024.3508543

Authors: Stratoglou, Efstratios; Simoes, Alexandre Anahory; Bloch, Anthony; Colombo, Leonardo J

Affiliations

IE Univ, Sch Sci & Technol, Madrid 28046, Spain - Author
Univ Michigan, Dept Math, Ann Arbor, MI 48109 USA - Author
Univ Politecn Madrid UPM, UDIMA, Madrid 28006, Spain - Author
UPM, Ctr Automat & Robot, CSIC, Madrid 28500, Spain - Author

Abstract

Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with nonintegrable constraints on the velocities. In this work, we introduce the notion of virtual nonlinear nonholonomic constraints in a geometric framework which is a controlled invariant submanifold and we show the existence and uniqueness of a control law preserving this submanifold.

Keywords

Aerospace electronicsControl lawsDesigDynamicsExistence and uniquenessExtraterrestrial measurementsFeedback controlForceGeometric controlGeometric frameworkGeometryHolonomic constraintsHybrid zero dynamicsLegged locomotionManifoldsMechanical systemsNon holonomic constraintNonholonomic systemsNonlinear dynamical systemsNonlinear feedbackNonlinear simulationsPhysical constraintsSubmanifoldsTracking controlVectorsVirtual constraintVirtual constraints

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Ieee Transactions On Automatic Control due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2025, it was in position 12/84, thus managing to position itself as a Q1 (Primer Cuartil), in the category Automation & Control Systems.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2025-07-13:

  • Scopus: 1

Impact and social visibility

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: United States of America.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (STRATOGLOU, EFSTRATIOS) and Last Author (Colombo, Leonardo J).

the author responsible for correspondence tasks has been Colombo, Leonardo J.