Related papers: The nonholonomic bracket on contact mechanical sys…
The nonholonomic dynamics can be described by the so-called nonholonomic bracket on the constrained submanifold, which is a non-integrable modification of the Poisson bracket of the ambient space, in this case, of the canonical bracket on…
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…
The nonholonomic dynamics can be described by the so-called nonholonomic bracket in the constrained submanifold, which is a non-integrable modification of the Poisson bracket of the ambient space, in this case, of the canonical bracket in…
In this paper we discuss nonholonomic contact Lagrangian and Hamiltonian systems, that is, systems with a kind of dissipation that are also subject to nonholonomic constraints. We introduce the so-called contact Eden bracket that allows us…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the…
We provide a new and simple system of equations for the normal sub-Riemannian geodesics. These use a partial connection that we show is canonically available, given a choice of complement to the distribution. We also describe conditions…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
Non-holonomic mechanical systems can be described by a degenerate almost-Poisson structure (dropping the Jacobi identity) in the constrained space. If enough symmetries transversal to the constraints are present, the system reduces to a…
In this work we discuss the natural appearance of the Generalized Brackets in systems with non-involutive (equivalent to second class) constraints in the Hamilton-Jacobi formalism. We show how a consistent geometric interpretation of the…
Nonholonomic mechanical systems have been attracting more interest in recent years because of their rich geometric properties and their applications in Engineering. In all generality, we discuss the reduction of a Hamilton-Jacobi theory for…
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
We formulate the non-commutative integrability of contact systems on a contact manifold $(M,\mathcal H)$ using the Jacobi structure on the space of sections $\Gamma(L)$ of a contact line bundle $L$. In the cooriented case, if the line…
In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contracting systems in a general Riemannian manifold. Then, we…
We propose a novel approach to contact Hamiltonian mechanics which, in contrast to the one dominating in the literature, serves also for non-trivial contact structures. In this approach Hamiltonians are no longer functions on the contact…
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…
In this paper we introduce a graded bracket of forms on multicontact manifolds. This bracket satisfies a graded Jacobi identity as well as two different versions of the Leibniz rule, one of them being a weak Leibniz rule, extending the…
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…
The geometric formulation of Hamilton--Jacobi theory for systems with nonholonomic constraints is developed, following the ideas of the authors in previous papers. The relation between the solutions of the Hamilton--Jacobi problem with the…
Contact geometry allows to describe some thermodynamic and dissipative systems. In this paper we introduce a new geometric structure in order to describe time-dependent contact systems: cocontact manifolds. Within this setting we develop…