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

In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…

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…

We define partial differential (PD in the following), i.e., field theoretic analogues of Hamiltonian systems on abstract symplectic manifolds and study their main properties, namely, PD Hamilton equations, PD Noether theorem, PD Poisson…

A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…

This paper shows that various relevant dynamical systems can be described as vector fields associated to smooth functions via a bracket that defines what we call a Leibniz structure. We show that gradient flows, some dissipative systems,…

We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…

In this paper, we present an efficient form of Volterra's equations of motion for both unconstrained and constrained multibody dynamical systems that include ignorable coordinates. The proposed method is applicable for systems with both…

In this paper, we present a collection of infinite-dimensional systems with nonholonomic constraints. In finite dimensions the two essentially different types of dynamics, nonholonomic or vakonomic ones, are known to be obtained by taking…

A covariant hamiltonian formalism for the dynamics of compact spinning bodies in curved space-time in the test-particle limit is described. The construction allows a large class of hamiltonians accounting for specific properties and…

We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long…

We describe work on solutions of certain non-divergence type and therefore non-variational elliptic and parabolic systems on manifolds. These systems include Hermitian and affine harmonics which should become useful tools for studying…

Viscous fluid dynamical calculations require no-slip boundary conditions. Numerical calculations of turbulence, as well as theoretical turbulence closure techniques, often depend upon a spectral decomposition of the flow fields. However,…

The standard lore in noncommutative physics is the use of first order variational description of a dynamical system to probe the space noncommutativity and its consequences in the dynamics in phase space. As the ultimate goal is to…

A section of a Hamiltonian system is a hypersurface in the phase space of the system, usually representing a set of one-sided constraints (e.g. a boundary, an obstacle or a set of admissible states). In this paper we give local…

We study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of variational principles, not equations of…

This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and…

We classify hyperbolic polynomials in two real variables that admit a transitive action on some component of their hyperbolic level sets. Such surfaces are called special homogeneous surfaces, and they are equipped with a natural Riemannian…

This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…

Integral expressions are determined for the elastic displacement and stress fields due to stationary or moving dislocation loops in finite samples. These general expressions are valid for anisotropic media as well. Specifically for the…

This paper defines symplectic scale manifolds based on Hofer-Wysocki-Zehnder's scale calculus. We introduce Hamiltonian vector fields and flows on these by narrowing down sc-smoothness to what we denote by strong sc-smoothness, a concept…