We give a formulation of certain types of mechanical systems using the structure of groupoid of the tangent and cotangent bundles to the configuration manifold ; the set of units is the zero section identified with the manifold . We study the Legendre transformation on Lie algebroids.
The two-parameter Hamiltonian system with the autonomous perturbation is considered. Via the Mel’nikov method, existence and uniqueness of a limit cycle of the system in a certain region of a two-dimensional space of parameters is proved.
We introduce the concept of conserved current variationally associated with locally variational invariant field equations. The invariance of the variation of the corresponding local presentation is a sufficient condition for the current beeing variationally equivalent to a global one. The case of a Chern-Simons theory is worked out and a global current is variationally associated with a Chern-Simons local Lagrangian.
A self-balancing bicycle robot based on the concept of an inverted pendulum is an unstable and nonlinear system. To stabilize the system in this work, the following three main components are required, i. e., (1) an IMU sensor that detects the tilt angle of the bicycle robot, (2) a controller that is used to control motion of a reaction wheel, and (3) a reaction wheel that is employed to produce reactionary torque to balance the bicycle robot. In this paper, we propose three control strategies: linear...