相关论文: The vector field of a rolling rigid body

We consider nonholonomic systems with collisions and propose a concept of weak solutions to Lagrange-d'Alembert equations. In the light of this concept we describe dynamics of the collisions. Several applications have been investigated.…

We study the control system of a Riemannian manifold $M$ of dimension $n$ rolling on the sphere $S^n$. The controllability of this system is described in terms of the holonomy of a vector bundle connection which, we prove, is isomorphic to…

The purpose of the present work is to show that an adequate basis for understanding the essentially nonlinear phenomena must also be essentially nonlinear however still simple enough to play the role of a basis. It is shown that such types…

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 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…

Non-conservative loads of the follower type are usually believed to be the source of dynamic instabilities such as flutter and divergence. It is shown that these instabilities (including Hopf bifurcation, flutter, divergence, and…

This paper has been inspired by ideas presented by V. V. Kozlov in his works [19, 20]. In this paper our goal is to carry out a thorough analysis of some geometric problems of the dynamics of affinely-rigid bodies. We present two ways to…

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 analyse the motion of a sphere that rolls without slipping on a conical surface having its axis in the direction of the constant gravitational field of the Earth. This nonholonomic system admits a solution in terms of quadratures. We…

The present article studies variational principles for the formulation of static and dynamic problems involving Kirchhoff rods in a fully nonlinear setting. These results, some of them new, others scattered in the literature, are presented…

This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…

A widely used mathematical model for the bouncing motion of an ideally elastic ball -- referred to in previous work by the first two authors and collaborators as a {\em no-slip billiard} system -- exhibits some notable dynamical behavior…

Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled…

In the comparison of nonholonomic mechanics and constrained variational mechanics, invariant affine subbundles arise in the determination of the initial conditions where the two methods yield the same trajectories. Motivated by this,…

Nonholonomic mechanics describes the motion of systems constrained by nonintegrable constraints. One of its most remarkable properties is that the derivation of the nonholonomic equations is not variational in nature. {However, in} this…

We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained…

In this paper, we provide a geometric characterization of virtual nonlinear nonholonomic constraints from a symplectic perspective. Under a transversality assumption, there is a unique control law making the trajectories of the associated…

We construct a symplectic, globally defined, minimal-coordinate, equivariant integrator on products of 2-spheres. Examples of corresponding Hamiltonian systems, called spin systems, include the reduced free rigid body, the motion of point…

In this paper the asymptotic behavior of trajectories of discontinuous vector fields is studied. The vector fields are defined on a two-dimensional Riemannian manifold $M$ and the confinement of trajectories on some suitable compact set $K$…

This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all…