抄録
This paper presents a formulation for dynamics of unicycle systems with nonholonomic constraints using principle of interconnection. It is shown that Planck-Okada-Arsove's logic enables to derive kinematical and dynamical constraints for unicycle systems and also that a mathematical model of unicyle systems can be obtained by implicit port-Lagrangian systems, in which constraint force can be effectively eliminated by using dual connection matrices. Finally, we illustrate the validity of the present approach by numerical simulations of unicycle systems together with bond graph models.
