Kinematic reduction and the Hamilton-Jacobi equation
Mathematical Physics
2011-10-28 v1 Differential Geometry
math.MP
Optimization and Control
Abstract
A close relationship between the classical Hamilton-Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric algebroid. This geometric structure allows us to describe in a simplified way the mechanics of nonholonomic systems with both control and external forces.
Cite
@article{arxiv.1110.6066,
title = {Kinematic reduction and the Hamilton-Jacobi equation},
author = {María Barbero-Liñán and Manuel de León and Juan Carlos Marrero and David Martín de Diego and Miguel C. Muñoz-Lecanda},
journal= {arXiv preprint arXiv:1110.6066},
year = {2011}
}
Comments
33 pages