Related papers: Complex dynamics in generalizations of the Chaplyg…
We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincar\'e--Suslov equations. In the 2-dimensional case, when the constraint is realized by a…
The Chaplygin sleigh is a classic example of a nonholonomically constrained mechanical system. The sleigh's motion always converges to a straight line whose slope is entirely determined by the initial configuration and velocity of the…
We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a…
A few-degrees-of-freedom Hamiltonian model exhibiting one-directional long-term trends in energy exchange flows is introduced. The model includes a massive potential well - a container with one or few relatively light non-interacting…
We consider nonholonomic systems whose configuration space is the central extension of a Lie group and have left invariant kinetic energy and constraints. We study the structure of the associated Euler-Poincare-Suslov equations and show…
This paper is concerned with the Chaplygin sleigh with timevarying mass distribution (parametric excitation). The focus is on the case where excitation is induced by a material point that executes periodic oscillations in a direction…
We investigate the behavior of dynamical systems with nonholonomic constraints when coupled to a thermal bath, focusing on the paradigmatic case of the Chaplygin sleigh. A straightforward Langevin-type approach obtained by naively adding…
This paper addresses the problem of the Chaplygin ball rolling on a horizontal plane which rotates with constant angular velocity. In this case, the equations of motion admit area integrals, an integral of squared angular momentum and the…
We examine the dynamics of a particle in a general rotating quadratic potential, not necessarily stable or isotropic, using a general complex mode formalism. The problem is equivalent to that of a charged particle in a quadratic potential…
This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illustrated with the discrete versions of two classical…
For a Chaplygin sleigh moving in the presence of weak friction, we present and investigate two mechanisms of arising acceleration due to oscillations of an internal mass. In certain parameter regions, the mechanism induced by small…
We formally extend the energy landscape approach for the thermodynamics of liquids to account for saddle points. By considering the extensive nature of macroscopic potential energies, we derive the scaling behavior of saddles with system…
We study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of variational principles, not equations of…
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no…
To study the time decay laws (tdl) of quasibounded hamiltonian systems we have considered two finite potential wells with oscillating walls filled by non interacting particles. We show that the tdl can be qualitatively different for…
Dipole-conserving fluids serve as examples of kinematically constrained systems that can be understood on the basis of symmetry. They are known to display various exotic features including glassylike dynamics, subdiffusive transport, and…
We consider nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and…
We derive a trace formula for the splitting-weighted density of states suitable for chaotic potentials with isolated symmetric wells. This formula is based on complex orbits which tunnel through classically forbidden barriers. The theory is…
In this paper, the dynamics of nonholonomic systems on Lie groups with a left-invariant kinetic energy and left-invariant constraints are considered. Equations of motion form a closed system of differential equations on the corresponding…
The chaotic diffusion for particles moving in a time dependent potential well is described by using two different procedures: (i) via direct evolution of the mapping describing the dynamics and ; (ii) by the solution of the diffusion…