Related papers: Energy balance for nonholonomic nonlinear systems
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…
We consider the dynamics of systems of self propelling particles with nonholonomic constraints. A continuum model for a discrete algorithm used in works by T. Vicsek et al. is proposed. For a case of planar geometry the finite flocking…
The extended Hamilton's Principle and other methods proposed to handle non-holonomic constraints are considered. They dont agree with each other. By looking at its consistency with D'Alembert's principle for linear non-holonomic…
Non-equilibrium steady states are subject to intense investigations but still poorly understood. For instance, the derivation of Fourier law in Hamiltonian systems is a problem that still poses several obstacles. In order to investigate…
The aim of this paper is to perform a deeper geometric analysis of problems appearing in dynamics of affinely rigid bodies. First of all we present a geometric interpretation of the polar and two-polar decomposition of affine motion. Later…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
Controllability and observability energy functions play a fundamental role in model order reduction and are inherently connected to optimal control problems. For linear dynamical systems the energy functions are known to be quadratic…
In this paper we have obtained some dynamics equations, in the presence of nonlinear nonholonomic constraints and according to a lagrangian and some Chetaev-like conditions. Using some natural regular conditions, a simple form of these…
In the variational principle leading to the Euler equation for a perfect fluid, we can use the method of undetermined multiplier for holonomic constraints representing mass conservation and adiabatic condition. For a dissipative fluid, the…
The principle of least action seems not to lead to equations describing the motion consistent with the physical behaviour, for non-holonomic constraints. Here, a response is proposed for this fundamental problem in Mathematical Physics.…
A possible approach to description of the non equilibrium system has been proposed. Based on the Fokker-Plank equation in term of energy for non equilibrium distribution function of macroscopical system was obtained the stationary solution…
A new approach to relativistic mechanics is proposed, suitable to describe dynamics of different kinds of relativistic particles. Mathematically it is based on an application of the recent geometric theory of nonholonomic systems on fibred…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…
We consider Noether symmetries of the equations defined by the sections of characteristic line bundles of nondegenerate 1-forms and of the associated perturbed systems. It appears that this framework can be used for time-dependent systems…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
In this paper we discuss energy conservation issues related to the numerical solution of the nonlinear wave equation. As is well known, this problem can be cast as a Hamiltonian system that may be autonomous or not, depending on the…
The reasons which restrict opportunities of classical mechanics at the description of nonequilibrium systems are discussed. The way of overcoming of the key restrictions is offered. This way is based on an opportunity of representation of…
In this article, we introduce the concept of energy-variational solutions for a large class of systems of nonlinear evolutionary partial differential equations. Under certain convexity assumptions, the existence of such solutions can be…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…