What does "Virtual Constraints" mean?
Table of Contents
Virtual constraints are rules applied to a control system that help guide its behavior without being actual physical barriers. Unlike physical constraints, which limit movement in a direct way, virtual constraints are adjusted through feedback control. This means that the system can change its actions based on the information it receives, allowing for more flexibility.
Nonholonomic Systems
Nonholonomic systems are mechanical setups that have specific rules about how fast they can move. These rules are not straightforward and depend on the way the system is configured. The constraints in these systems relate to their speeds rather than just their positions.
Types of Virtual Constraints
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Virtual Linear Nonholonomic Constraints: These constraints help a control system behave in a desired way while still allowing for fast adjustments. They do not just focus on where the system is but also on how fast it can move.
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Virtual Affine Nonholonomic Constraints: This type introduces a more detailed approach to managing movement in a control system. It uses a special framework to maintain control, ensuring that the system acts according to its set rules.
Applications
Virtual constraints are useful in various fields, especially in robotics. They help design systems that can maintain control and adapt to changes in their environment while following specific movement rules.