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Several examples of nonholonomic mechanical systems

Martin Swaczyna (2011)

Communications in Mathematics

A unified geometric approach to nonholonomic constrained mechanical systems is applied to several concrete problems from the classical mechanics of particles and rigid bodies. In every of these examples the given constraint conditions are analysed, a corresponding constraint submanifold in the phase space is considered, the corresponding constrained mechanical system is modelled on the constraint submanifold, the reduced equations of motion of this system (i.e. equations of motion defined on the...

Singularities of implicit differential systems and maximum principle

Stanisław Janeczko, Fernand Pelletier (2003)

Banach Center Publications

The integrability condition for the Lagrangian implicit differential systems of (TP,ω̇), introduced in [7], is applied for the specialized control theory systems. The Pontryagin maximum principle was reformulated in the framework of implicit differential systems and the corresponding necessary and sufficient conditions were proved. The beginning of the classification list of normal forms for Lagrangian implicit differential systems according to the symplectic equivalence is provided and the corresponding...

Small divisors and large multipliers

Boele Braaksma, Laurent Stolovitch (2007)

Annales de l’institut Fourier

We study germs of singular holomorphic vector fields at the origin of ℂ n of which the linear part is 1 -resonant and which have a polynomial normal form. The formal normalizing diffeomorphism is usually divergent at the origin but there exists holomorphic diffeomorphisms in some “sectorial domains” which transform these vector fields into their normal form. In this article, we study the interplay between the small divisors phenomenon and the Gevrey character of the sectorial normalizing diffeomorphisms....

Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form

Waseem Abbasi, Fazal ur Rehman, Ibrahim Shah (2018)

Kybernetika

In this article, a new solution to the steering control problem of nonholonomic systems, which are transformable into chained form is investigated. A smooth super twisting sliding mode control technique is used to steer nonholonomic systems. Firstly, the nonholonomic system is transformed into a chained form system, which is further decomposed into two subsystems. Secondly, the second subsystem is steered to the origin by using smooth super twisting sliding mode control. Finally, the first subsystem...

Smoothness of the motion of a rigid body immersed in an incompressible perfect fluid

Olivier Glass, Franck Sueur, Takéo Takahashi (2012)

Annales scientifiques de l'École Normale Supérieure

We consider the motion of a rigid body immersed in an incompressible perfect fluid which occupies a three-dimensional bounded domain. For such a system the Cauchy problem is well-posed locally in time if the initial velocity of the fluid is in the Hölder space C 1 , r . In this paper we prove that the smoothness of the motion of the rigid body may be only limited by the smoothness of the boundaries (of the body and of the domain). In particular for analytic boundaries the motion of the rigid body is analytic...

Solution for a classical problem in the calculus of variations via rationalized Haar functions

Mohsen Razzaghi, Yadollah Ordokhani (2001)

Kybernetika

A numerical technique for solving the classical brachistochrone problem in the calculus of variations is presented. The brachistochrone problem is first formulated as a nonlinear optimal control problem. Application of this method results in the transformation of differential and integral expressions into some algebraic equations to which Newton-type methods can be applied. The method is general, and yields accurate results.

Solving non-holonomic Lagrangian dynamics in terms of almost product structures.

Manuel de León, David Martín de Diego (1996)

Extracta Mathematicae

Given a Lagrangian system with non-holonomic constraints we construct an almost product structure on the tangent bundle of the configuration manifold such that the projection of the Euler-Lagrange vector field gives the dynamics of the system. In a degenerate case, we develop a constraint algorithm which determines a final constraint submanifold where a completely consistent dynamics of the initial system exists.

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