Controllability results for the rolling of 2-dimensional against 3-dimensional Riemannian manifolds. I

DOI10.1007/S10883-021-09550-5MaRDI QIDQ2240787zbMATH OpenOpenAlexWikidataFDO

Authors A. Mortada, Yacine Chitour, Ali Wehbe, Petri Kokkonen

Publication date 4 November 2021

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2002.09744

zbMATH Keywords

connectioncurvatureLie algebraRiemannian geometryrolling manifolds

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Controllability (93B05) Geometric methods (93B27)

Abstract: In this article, we consider the rolling (or development) of two Riemannian connected manifolds $(M,g)$ and $(hatM,hatg)$ of dimensions $2$ and $3$ respectively, with the constraints of no-spinning and no-slipping. The present work is a continuation of cite{MortadaKokkonenChitour}, which modelled the general setting of the rolling of two Riemannian connected manifolds with different dimensions as a driftless control affine system on a fibered space $Q$, with an emphasis on understanding the local structure of the rolling orbits, i.e., the reachable sets in $Q$. In this paper, the state space $Q$ has dimension eight and we show that the possible dimensions of non open rolling orbits belong to the set $2,5,6,7$. We describe the structures of orbits of dimension $2$, the possible local structures of rolling orbits of dimension $5$ and some of dimension $7$.

Review text

The present paper is the first part of a geometrical study of controllability issues associated with the rolling under constraints of non-spinning and non-slipping of two smooth connected and oriented Riemannian manifolds $(M, g)$ and $(M', g')$ of dimensions $n=2$ and $n'=3$ and of Riemannian curvature tensors $R$ and $R'$ respectively. The considerations of the authors are based on the theory of differentiable manifolds and Lie algebras and interesting controllability results are obtained.

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Cites work

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Cited in

(12)

• Rolling manifolds on space forms
• Controllability results for the rolling of 2-dimensional against 3-dimensional Riemannian manifolds. II
• Rolling bodies with regular surface: Controllability theory and applications
• Controllability of rolling bodies with regular surfaces
• Rolling of manifolds and controllability in dimension three
• Controllability of rolling without twisting or slipping in higher dimensions
• Rolling of a body on a plane or a sphere: a geometric point of view
• Rolling against a sphere: the non-transitive case
• On the motion planning of rolling surfaces
• Rolling manifolds of different dimensions
• The rolling problem: overview and challenges
• On the Controllability of the Rolling Problem onto the Hyperbolic $n$-space

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