Related papers: Learning Nonholonomic Dynamics with Constraint Dis…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
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…
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…
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a consequence, the learned dynamics may violate the nonholonomic…
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with a knife edge constraint…
The main directions in the development of the nonholonomic dynamics are briefly considered in this paper. The first direction is connected with the general formalizm of the equations of dynamics that differs from the Lagrangian and…
We present a general framework for constructing structure-preserving numerical integrators for nonholonomically constrained mechanical systems evolving on Lie groups using retraction maps. Retraction maps generalize the exponential map and…
Port-Hamiltonian neural networks (pHNNs) are emerging as a powerful modeling tool that integrates physical laws with deep learning techniques. While most research has focused on modeling the entire dynamics of interconnected systems, the…
Learning unknown dynamics under environmental (or external) constraints is fundamental to many fields (e.g., modern robotics), particularly challenging when constraint information is only locally available and uncertain. Existing approaches…
We study dynamics in a neighborhood of a nonhyperbolic fixed point or an irreducible homoclinic tangent point. General type conditions for the existence of infinite sets of periodic points are obtained. A new method, based on the study of…
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…
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…
Identifying the underlying dynamics of physical systems can be challenging when only provided with observational data. In this work, we consider systems that can be modelled as first-order ordinary differential equations. By assuming a…
It is well known that the dynamics of a Hamiltonian system depends crucially on whether or not it possesses nonlinear resonances. In the generic case, the set of nonlinear resonances consists of independent clusters of resonantly…
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…
Learning models of dynamical systems characterized by specific stability properties is of crucial importance in applications. Existing results mainly focus on linear systems or some limited classes of nonlinear systems and stability…
Dynamical systems with quadratic or polynomial drift exhibit complex dynamics, yet compared to nonlinear systems in general form, are often easier to analyze, simulate, control, and learn. Results going back over a century have shown that…
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…
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle $Q\to R$ is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle $VQ$ of $Q\to…