相关论文: A note on holonomic costraints

The extended Hamilton's Principle and other methods proposed to handle non-holonomic constraints are considered. They dont agree with each other. By looking at its consistency with D'Alembert's principle for linear non-holonomic…

This paper addresses the feasibility of virtual holonomic constraints (VHCs) in the context of motion planning for underactuated mechanical systems with a single degree of underactuation. While existing literature has established a widely…

This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the…

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…

In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…

The main aim of the present paper is to raise the doubt that vakonomic dynamics may not be satisfactory as a model for velocity dependent constraints.

This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…

We consider nonholonomic systems with nonlinear restrictions with respect to the velocities. The mathematical problem is formulated by means of the Voronec equations extended to the nonlinear case. The main point of the paper is the balance…

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 --…

In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove…

We review in detail the Hamiltonian dynamics for constrained systems. Emphasis is put on the total Hamiltonian system rather than on the extended Hamiltonian system. We provide a systematic analysis of (global and local) symmetries in total…

There has been increasing interest in methodologies that incorporate physics priors into neural network architectures to enhance their modeling capabilities. A family of these methodologies that has gained traction are Hamiltonian neural…

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…

I consider the equations of motion which follow from d'Alembert's principle for a general mechanical system in a space of N dimensions, constrained by a non-holonomic constraint which is linear and homogeneous in the generalised velocities.…

We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…

We consider the dynamics of systems of self propelling particles with nonholonomic constraints. A continuum model for a discrete algorithm used in works by T. Vicsek et al. is proposed. For a case of planar geometry the finite flocking…

We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…

A mechanical system is presented exhibiting a non-deterministic singularity, that is, a point in an otherwise deterministic system where forward time trajectories become non-unique. A Coulomb friction force applies linear and angular forces…

Integrable velocity-dependent constraints are said to be semiholonomic. For good reasons, holonomic and semiholonomic constraints are thought to be indistinguishable in Lagrangian mechanics. This well-founded belief notwithstanding, here we…

A canonical formalism and constraint analysis for discrete systems subject to a variational action principle are devised. The formalism is equivalent to the covariant formulation, encompasses global and local discrete time evolution moves…