相关论文: Nonholonomic Constraints in Time-Dependent Mechani…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
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 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…
In this paper, we give sufficient conditions for and deduce a control law under which a mechanical control system converges exponentially fast to a virtual linear nonholonomic constraint that is control invariant via the same feedback…
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…
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…
An exact invariant is derived for $n$-degree-of-freedom Hamiltonian systems with general time-dependent potentials. The invariant is worked out in two equivalent ways. In the first approach, we define a special {\it Ansatz\/} for the…
We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…
We derive an effective Hamiltonian for a quantum system constrained to a submanifold (the constraint manifold) of configuration space (the ambient space) by an infinite restoring force. We pay special attention to how this Hamiltonian…
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…
A conceptually simple physical interpretation of a conserved Hamiltonian $\mathcal{H}$ for a mechanical system with a time-dependent constraint is given. For the case of a bead on a vertical hoop forced to rotate with constant angular…
In this paper, we develop a Hamiltonian variational formulation for the nonequilibrium thermodynamics of simple adiabatically closed systems that is an extension of Hamilton's phase space principle in mechanics. We introduce the…
In Hamiltonian time-dependent mechanics, the Poisson bracket does not define dynamic equations, that implies the corresponding peculiarities of describing time-dependent holonomic constraints. As in conservative mechanics, one can consider…
The usual formulation of time-dependent mechanics implies a given splitting $Y=R\times M$ of an event space $Y$. This splitting, however, is broken by any time-dependent transformation, including transformations between inertial frames. The…
We show that non-relativistic and relativistic mechanical systems on a configuration space Q can be seen as the conservative Dirac constraint systems with zero Hamiltonians on different subbundles of the same cotangent bundle T^*Q. The…
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,…
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…
In this paper we propose the time & fitness-dependent Hamiltonian form of human biomechanics, in which total mechanical + biochemical energy is not conserved. Starting with the Covariant Force Law, we first develop autonomous Hamiltonian…
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…
We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…