Base-controlled mechanical systems and geometric phases

DOI10.1016/J.GEOMPHYS.2007.11.009zbMATH Open1138.70009arXiv0706.1545OpenAlexW2047372739MaRDI QIDQ2479320FDOQ2479320

Authors: Alejandro Cabrera 

Publication date: 26 March 2008

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

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.

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

Recommendations

• Geometric phase and controllability of quantum systems
• scientific article; zbMATH DE number 1069608
• Controllability of mechanical systems under account of phase constraints
• scientific article; zbMATH DE number 566291
• scientific article; zbMATH DE number 566288
• Geometric phases and robotic locomotion
• Pattern evocation and geometric phases in mechanical systems with symmetry
• Geometric phases in quantum control disturbed by classical stochastic processes
• Geometric quantization of mechanical systems with time-dependent parameters

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)

Cites Work

• Nonholonomic mechanical systems with symmetry
• Lagrangian reduction by stages
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Reduction theory and the Lagrange-Routh equations.
• Reduction, symmetry, and phases in mechanics
• A generalized Montgomery phase formula for rotating self-deforming bodies
• Title not available (Why is that?)

Cited In (3)

• Title not available (Why is that?)
• Motion planning for variable inertia mechanical systems
• Control of locomotion systems and dynamics in relative periodic orbits

This page was built for publication: Base-controlled mechanical systems and geometric phases

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2479320)