Related papers: Nonholonomic reduction for mechanical systems with…
In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove…
A gauge-invariant formulation of constrained variational calculus, based on the introduction of the bundle of affine scalars over the configuration manifold, is presented. In the resulting setup, the Lagrangian is replaced by a section of a…
In this paper, for a variety of nonholonomic (reducible) Hamiltonian systems, we first give to various distributional Hamiltonian systems, by analyzing carefully the dynamics and structures of the nonholonomic Hamiltonian systems. Secondly,…
Using the dependent coordinates, the local Lagrange-Poincar\'e equations and equations for the relative equilibria are obtained for a mechanical system with a symmetry describing the motion of two interacting scalar particles on a special…
Any given system of ordinary differential equations in $n$-dimensional configuration space can be obtained from a peculiar variational problem with one local symmetry. The obtained action functional leads to the Hamiltonian formulation in…
This paper addresses the equivalence problem of conic submanifolds in the tangent bundle of a smooth 2-dimensional manifold. Those are given by a quadratic relation between the velocities and are treated as nonholonomic constraints whose…
This contribution presents an integration method based on the Simpson quadrature. The integrator is designed for finite-dimensional nonlinear mechanical systems that derive from variational principles. The action is discretized using…
We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…
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.…
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…
We extend the method of Controlled Lagrangians to nonholonomic Euler--Poincar\'e equations with advected parameters, specifically to those mechanical systems on Lie groups whose symmetry is broken not only by a potential force but also by…
Variational inequalities are an important mathematical tool for modelling free boundary problems that arise in different application areas. Due to the intricate nonsmooth structure of the resulting models, their analysis and optimization is…
The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmooth convex analysis of tangent and normal cones. In…
In this article, we analyze the Pontryagin model adopting different geometric-covariant approaches. In particular, we focus on the manner in which boundary conditions must be imposed on the background manifold in order to reproduce an…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
We present several principal bundles of embeddings of compact manifolds (with or without boundary) whose base manifolds are nonlinear Grassmannians. We study their infinite dimensional differential manifold structure in the Fr\'echet…
In this contribution we present an intrinsic description of time-variant Port Hamiltonian systems as they appear in modeling and control theory. This formulation is based on the splitting of the state bundle and the use of appropriate…
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 consider some issues of the representation in the Hamiltonian form of two problems of nonholonomic mechanics, namely, the Chaplygin's ball problem and the Veselova problem. We show that these systems can be written as generalized…
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…