Related papers: Infinite-dimensional nonholonomic and vakonomic sy…
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
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…
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…
We construct explicit examples of spontaneous energy generation and non-uniqueness for the compressible Euler system, with and without pressure, by taking limits of Hamiltonian dynamics as the number of molecules increases to infinity. The…
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined…
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,…
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…
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illustrated with the discrete versions of two classical…
We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of…
We analyze the asymptotic dynamics of quasilinear parabolic equations when solutions may grow up (i.e., blow up in infinite time). For such models, there is a global attractor which is unbounded and the semiflow induces a nonlinear dynamics…
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 classical question whether nonholonomic dynamics is realized as limit of friction forces was first posed by Carath\'eodory. It is known that, indeed, when friction forces are scaled to infinity, then nonholonomic dynamics is obtained as…
The nonlinear supersymmetry of one-dimensional systems is investigated in the context of the quantum anomaly problem. Any classical supersymmetric system characterized by the nonlinear in the Hamiltonian superalgebra is symplectomorphic to…
For a Lagrangian system with nonholonomic constraints, we construct extensions of the equations of motion to sets of second-order ordinary differential equations. In the case of a purely kinetic Lagrangian, we investigate the conditions…
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…
We prove the following nonholonomic version of the classical Moser theorem: given a bracket-generating distribution on a connected compact manifold (possibly with boundary), two volume forms of equal total volume can be isotoped by the flow…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…