Related papers: Momentum map reduction for nonholonomic systems

Momentum map is a reduction procedure that reduces the dimension of a Hamiltonian system to the lower ones. It is shown that behavior of the action-angle variables under the momentum map generates the new action-angle variables for the…

This paper develops the reduction theory of implicit Hamiltonian systems admitting a symmetry group at a singular value of the momentum map. The results naturally extend those known for (explicit) Hamiltonian systems described by Poisson…

We study continuous symmetry reduction of dynamical systems by the method of slices (method of moving frames) and show that a `slice' defined by minimizing the distance to a single generic `template' intersects the group orbit of every…

We mimic the stochastic Hamiltonian reduction of Lazaro-Cami and Ortega [17, 18] for the case of certain non-holonomic systems with symmetries. Using the non-holonomic connection it is shown that the drift of the stochastically perturbed…

In this paper, we consider the hamiltonian formulation of nonholonomic systems with symmetries and study several aspects of the geometry of their reduced almost Poisson brackets, including the integrability of their characteristic…

Theory and methods to obtain parametric reduced-order models by moment matching are presented. The definition of the parametric moment is introduced, and methods (model-based and data-driven) for the approximation of the parametric moment…

This paper initiates a systematic development of a theory of non-commutative optimization. It aims to unify and generalize a growing body of work from the past few years which developed and analyzed algorithms for natural geodesically…

We devise a generalisation of the energy momentum-method for studying the stability of non-autonomous Hamiltonian systems with a Lie group of Hamiltonian symmetries. A generalisation of the relative equilibrium point notion to a…

We consider a class of dynamical systems on a Lie group $G$ with a left-invariant metric and right-invariant nonholonomic constraints (so called LR systems) and show that, under a generic condition on the constraints, such systems can be…

There exist three main approaches to reduction associated to canonical Lie group actions on a symplectic manifold, namely, foliation reduction, introduced by Cartan, Marsden-Weinstein reduction, and optimal reduction, introduced by the…

Rubber rolling (no-slip and no-twist) of a convex body on the plane under the influence of gravity is a SE(2) Chaplygin system, that reduces to the sphere of Poisson vectors. I comment upon an observation by A.V Borisov and I.S. Mamaev…

We consider nonholonomic systems which symmetry groups consist of two subgroups one of which represents rotations about the axis of symmetry. After nonholonomic reduction by another subgroup the corresponding vector fields on partially…

We relate a Chaplygin type system to a Cartan decomposition of a real semi-simple Lie group. The resulting system is described in terms of the structure theory associated to the Cartan decomposition. It is shown to possess a preserved…

In this note we give conditions which ensure the reduction of a symplectic connection in the process of a Marsden-Weinstein reduction and of the reduction of a presymplectic manifold.

In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…

We construct different almost Poisson brackets for nonholonomic systems than those existing in the literature and study their reduction. Such brackets are built by considering non-canonical two-forms on the cotangent bundle of configuration…

We propose a reduction procedure for symplectic connections with symmetry. This is applied to coadjoint orbits whose isotropy is reductive.

Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body…

The Hamiltonian Monte Carlo method generates samples by introducing a mechanical system that explores the target density. For distributions on manifolds it is not always simple to perform the mechanics as a result of the lack of global…

In this paper, we investigate multidimensional first-order quasi-linear systems and find necessary conditions for them to admit Hamiltonian formulation. The insufficiency of the conditions is related to the Poisson cohomology of the…