Related papers: Rolling against a sphere: The non transitive case

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 non-integrable constraints…

In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Severa and Weinstein [29]) to construct different almost Poisson…

In this paper we describe the Lie-theoretic structure of ${\rm SO}(1,4)$ and consider control systems given by certain vector fields of ${\rm SO}(1,4)$. Then we explicitly describe its invariant control sets in the unique ${\rm…

Given a principal bundle with a connection, we look for an asymptotic expansion of the holonomy of a loop in terms of its length. This length is defined relative to some Riemannian or sub-Riemannian structure. We are able to give an…

In this article we study the sub-Riemannian geometry of the spheres $S^{2n+1}$ and $S^{4n+3}$, arising from the principal $S^1-$bundle structure defined by the Hopf map and the principal $S^3-$bundle structure given by the quaternionic Hopf…

We describe a construction of Riemannian metrics of nonnegative sectional curvature on a closed smooth nonorientable 4-manifold with fundamental group of order two that realizes a homotopy class that was not previously known to contain…

We prove that certain non-exact magnetic Hamiltonian systems on products of closed hyperbolic surfaces and with a potential function of large oscillation admit non-constant contractible periodic solutions of energy below the Ma\~n\'e…

A contact manifold $M$ can be defined as a quotient of a symplectic manifold $X$ by a proper, free action of $\R^{>0}$, with the symplectic form homogeneous of degree 2. If $X$ is, in addition, Kaehler, and its metric is also homogeneous of…

In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…

We study limit cycles in piecewise complex systems with switching manifold $\mathbb{S}^1$. Using M\"obius transformations we establish an equivalence between circular and straight-line discontinuities that preserves periods, stability, and…

In this paper we develop new methods of study of generalized normal homogeneous Riemannian manifolds. In particular, we obtain a complete classification of generalized normal homogeneous Riemannian metrics on spheres. We prove that for any…

We study the full holonomy group of Lorentzian manifolds with a parallel null line bundle. We prove several results that are based on the classification of the restricted holonomy groups of such manifolds and provide a construction method…

Let X be a Fano threefold, and let S be a K3 surface in X . Any moduli space M of simple vector bundles on S carries a holomorphic symplectic structure. Following an idea of Tyurin, we show that in some cases, those vector bundles which…

Given a hyperkahler manifold M, the hyperkahler structure defines a triple of symplectic structures on M; with these, a triple of Hamiltonians defines a so called hyperhamiltonian dynamical system on M. These systems are integrable when can…

This article investigates the holonomy groups of K-contact sub-pseudo-Riemannian manifolds. The primary result is a proof that the horizontal holonomy group either coincides with the adapted holonomy group or acts as its normal subgroup of…

Consider the principal $U(n)$ bundles over Grassmann manifolds $U(n)\rightarrow U(n+m)/U(m) \stackrel{\pi}\rightarrow G_{n,m}$. Given $X \in U_{m,n}(\mathbb{C})$ and a 2-dimensional subspace $\mathfrak{m}' \subset \mathfrak{m} $ $ \subset…

We investigate the holonomy group of a linear metric connection with skew-symmetric torsion. In case of the euclidian space and a constant torsion form this group is always semisimple. It does not preserve any non-degenerated 2-form or any…

We completely explore the system of ODE's which is equivalent to the existence of a parallel $Spin(7)$-structure on the cone over a 7-dimensional 3-Sasakian manifold. The one-dimensional family of solutions of this system is constructed.…

We study holomorphic $(n+1)$-chains $E_n\to E_{n-1} \to >... \to E_0$ consisting of holomorphic vector bundles over a compact Riemann surface and homomorphisms between them. A notion of stability depending on $n$ real parameters was…

We investigate geometric properties of indecomposable but non-irreducible Lorentzian manifolds, which are total spaces of circle bundles. We investigate under which conditions these manifolds are complete and give examples which fulfill the…