Related papers: Nonlinear nonholonomic constraints
The developments in this paper are concerned with nonholonomic field theories in the presence of symmetries. Having previously treated the case of vertical symmetries, we now deal with the case where the symmetry action can also have a…
We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection…
This paper concerns identification of uncontrolled or closed loop nonlinear systems using a set of trajectories that are generated by the system in a domain of attraction. The objective is to ensure that the trajectories of the identified…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
We derive conditions for a nonholonomic system subject to nonlinear constraints (obeying Chetaev's rule) to preserve a smooth volume form. When applied to affine constraints, these conditions dictate that a basic invariant density exists if…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…
In this paper, we define Jacobi fields for nonholonomic mechanics using a similar characterization than in Riemannian geometry. We give explicit conditions to find Jacobi fields and finally we find the nonholonomic Jacobi equations in two…
In this work we consider a system of quasilinear elliptic equations driven by an anisotropic $p$-Laplacian. The lower-order nonlinearities are in potential form and exhibit critical Sobolev growth. We exhibit conditions on the coefficients…
In order to describe the impact of nonholonomic constraints for the dynamics of a regular controlled Hamiltonian (RCH) system, in this paper, for an RCH system with nonholonomic constraint, we first derive its distributional RCH system, by…
We discuss the unstable character of the solutions of the Lorentz-Dirac equation and stress the need of methods like order reduction to derive a physically acceptable equation of motion. The discussion is illustrated with the paradigmatic…
Due to the processes that occur during the functioning of modern electromechanical systems, these systems can be considered complex nonlinear dynamic systems from the point of view of the theory of dynamic systems. The movement of such…
This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two…
A new technique for obtaining rigorous results concerning the global dynamics of nonlinear systems is described. The technique combines abstract existence results based on the Conley index theory with computer- assisted computations. As an…
We present a new technique for constructing solutions of quasilinear systems of first-order partial differential equations, in particular inhomogeneous ones. A generalization of the Riemann invariants method to the case of inhomogeneous…
Cracks in beams and shallow arches are modeled by massless rotational springs. First, we introduce a specially designed linear operator that "absorbs" the boundary conditions at the cracks. Then the equations of motion are derived from the…
In this paper, we will discuss new developments regarding the Geometric Nonholonomic Integrator (GNI) [23, 24]. GNI is a discretization scheme adapted to nonholonomic mechanical systems through a discrete geometric approach. This method was…
Nonlinear dispersionless equations arise as the dispersionless limit of well know integrable hierarchies of equations or by construction, such as the system of hydrodynamic type. Some of these equations are integrable in the Hamiltonian…
The search for strong topological phases in generic aperiodic materials and meta-materials is now vigorously pursued by the condensed matter physics community. In this work, we first introduce the concept of patterned resonators as a…
In this Series, we study the weakly nonlinear dynamics of chemically active particles near the threshold for spontaneous motion. In this part, we focus on steady solutions and develop an `adjoint method' for deriving the nonlinear amplitude…
Bogoliubov's 1947 approximation, originally developed in the microscopic theory of superfluidity, laid the foundation for solving previously intractable quantum models and later became part of "quantum mathematics". Regarding mathematically…