Symmetries and periodic orbits in simple hybrid Routhian systems

DOI10.1016/J.NAHS.2020.100857MaRDI QIDQ2178205zbMATH OpenOpenAlexWikidataFDO

Authors Leonardo Colombo, María Emma Eyrea Irazú

Publication date 7 May 2020

Published in Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2001.08941

zbMATH Keywords

hybrid systemssymmetriesRouth reductionPoincaré map

Mathematics Subject Classification ID

Symmetries, invariants of ordinary differential equations (34C14) Dynamical systems in fluid mechanics, oceanography and meteorology (37N10) Dynamical systems in control (37N35) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Equilibria and periodic trajectories for nonlinear problems in mechanics (70K42) Symplectic and canonical mappings (37J11) General theory of finite-dimensional Hamiltonian and Lagrangian systems, Hamiltonian and Lagrangian structures, symmetries, invariants (37J06)

Abstract: Symmetries are ubiquitous in a wide range of nonlinear systems. Particularly in systems whose dynamics are determined by a Lagrangian or Hamiltonian function. For hybrid systems which possess a continuous-time dynamics determined by a Lagrangian function, with a cyclic variable, the degrees of freedom for the corresponding hybrid Lagrangian system can be reduced by means of a method known as extit{hybrid Routhian reduction}. In this paper we study sufficient conditions for the existence of periodic orbits in hybrid Routhian systems which also exhibit time-reversal symmetry. Likewise, we explore some stability aspects of such orbits through the characterization of the eigenvalues for the corresponding linearized Poincar'e map. Finally, we apply the results to find periodic solutions in underactuated hybrid Routhian control systems.

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Cited in

(2)

• A note on hybrid Routh reduction for time-dependent Lagrangian systems
• A study of the long-term behavior of hybrid systems with symmetries via reduction and the Frobenius-Perron operator

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