Base-controlled mechanical systems and geometric phases

DOI10.1016/J.GEOMPHYS.2007.11.009MaRDI QIDQ2479320zbMATH OpenOpenAlexFDO

Authors Alejandro Cabrera

Publication date 26 March 2008

Published in Journal of Geometry and Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0706.1545

zbMATH Keywords

non-holonomic constraintreconstruction phasetime-dependent non-integrable systems

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05)

Abstract: In this paper, we carry a detailed study of mechanical systems with configuration space $QlongrightarrowQ/G$ for which the base $Q/G$ variables are being controlled. The overall system's motion is considered to be induced from the base one due to the presence of general non-holonomic constraints. It is shown that the solution can be factorized into dynamical and geometrical parts. Moreover, under favorable kinematical circumstances, the dynamical part admits a further factorization since it can be reconstructed from an intermediate (body) momentum solution, yielding a reconstruction phase formula. Finally, we apply this results to the study of concrete mechanical systems.

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Cites work

• scientific article; zbMATH DE number 18997 (Why is no real title available?)
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Cited in

(3)

• scientific article; zbMATH DE number 1959607 (Why is no real title available?)
• Motion planning for variable inertia mechanical systems
• Control of locomotion systems and dynamics in relative periodic orbits

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