Related papers: Virtual Holonomic and Nonholonomic Constraints on …
Variational principles play a central role in classical mechanics, providing compact formulations of dynamics and direct access to conserved quantities. While holonomic systems admit well-known action formulations, non-holonomic systems --…
We construct an operational formulation of classical mechanics without presupposing previous results from analytical mechanics. In doing so, several concepts from analytical mechanics will be rediscovered from an entirely new perspective.…
Loop quantum gravity introduces two characteristic modifications in the classical constraints of general relativity: the holonomy and inverse-triad corrections. In this paper, a systematic construction of anomaly-free effective constraints…
In this study, it is generalized the concept of Lagrangian mechanics with constraints to complex case. To be beginning, it is considered a Kaehlerian manifold as a velocity-phase space. Then a non-holonomic constraint is given by 1-form on…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
We consider the stabilization problem for driftless control-affine systems under the bracket-generating condition. In our previous works, a class of time-varying feedback laws has been constructed to stabilize the equilibrium of a…
A closed affine manifold is a closed manifold with coordinate patches into affine space whose transition maps are restrictions of affine automorphisms. Such a structure gives rise to a local diffeomorphism from the universal cover of the…
We propose two types of stochastic extensions of nonholonomic constraints for mechanical systems. Our approach relies on a stochastic extension of the Lagrange-d'Alembert framework. We consider in details the case of invariant nonholonomic…
Variational calculus on a vector bundle E equipped with a structure of a general algebroid is developed, together with the corresponding analogs of Euler-Lagrange equations. Constrained systems are introduced in the variational and in the…
We study the dynamics of contact mechanical systems on Lie groups that are invariant under a Lie group action. Analogously to standard mechanical systems on Lie groups, existing symmetries allow for reducing the number of equations. Thus,…
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie…
Lie transformation groups containing a one-dimensional subgroup acting cyclically on a manifold are considered. The structure of the group is found to be considerably restricted by the existence of a one-dimensional subgroup whose orbits…
In this paper we use character variety methods to study homomorphisms between the fundamental groups of 3-manifolds, in particular those induced by non-zero degree maps. A {\it knot manifold} is a compact, connected, irreducible, orientable…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
This paper describes a polynomial invariant of virtual knots that is defined in terms of an integer labeling of the virtual knot diagram. This labeling is seen to derive from an essentially unique structure of affine flat biquandle for flat…
This paper studies rotational virtual knot theory and its relationship with quantum link invariants. Every quantum link invariant for classical knots and links extends to an invariant of rotational virtual knots and links. The paper sets up…
The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…
This paper presents thorough mathematical modeling, control law development, and simulation of virtual structure formations which are inspired by the characteristics of rigid bodies. The stable constraint forces that establish the rigidity…
The N-dimensional Cayley-Klein scheme allows the simultaneous description of $3^N$ geometries (symmetric orthogonal homogeneous spaces) by means of a set of Lie algebras depending on $N$ real parameters. We present here a quantum…
A system with anholonomic constraints where the trajectories of physical degrees of freedom are autoparallels on a manifold equipped with a general Cartan connection is discussed. A variational principle for the autoparallel trajectories is…