Related papers: Energy balance for nonholonomic nonlinear systems
The main topic of this work concerns the formulation of the equations of motion and the consequent energy balance that they imply for this type of systems, In particular, the analytical development that we will carry out on the equations of…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined…
One of the founders of the mechanics of nonoholonomic systems is Voronec who published in 1901 a significant generalization of the Caplygin's equations, by removing some restrictive assumptions. In the frame of nonholonomic systems, the…
We first present a way to formulate the equations of motion for a nonholonomic system with nonlinear constraints with respect to the velocities. The formulation is based on the Cetaev condition which aims to extend the practical method of…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in…
We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…
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…
Energy is in general not conserved for mechanical nonholonomic systems with affine constraints. In this article we point out that, nevertheless, in certain cases, there is a modification of the energy that is conserved. Such a function…
The main aim of the present paper is to raise the doubt that vakonomic dynamics may not be satisfactory as a model for velocity dependent constraints.
I consider the equations of motion which follow from d'Alembert's principle for a general mechanical system in a space of N dimensions, constrained by a non-holonomic constraint which is linear and homogeneous in the generalised velocities.…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
In nonholonomic mechanical systems with constraints that are affine (linear nonhomogeneous) functions of the velocities, the energy is typically not a first integral. It was shown in [Fass\`o and Sansonetto, JNLS, 26, (2016)] that,…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
We characterize the conditions for the conservation of the energy and of the components of the momentum maps of lifted actions, and of their `gauge-like' generalizations, in time-independent nonholonomic mechanical systems with affine…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
The aim of this study is to present an alternative way to deduce the equations of motion of general (i.e., also nonlinear) nonholonomic constrained systems starting from the d'Alembert principle and proceeding by an algebraic procedure. The…
We consider a problem of mass points interacting gravitationally whose motion is subjected to certain holonomic constraints. The motion of points is restricted to certain curves and surfaces. We illustrate the complicated behaviour of…