The free rigid body dynamics: generalized versus classic

DOI10.1063/1.4816550MaRDI QIDQ5407598zbMATH OpenOpenAlexFDO

Authors Răzvan M. Tudoran

Publication date 7 April 2014

Published in Journal of Mathematical Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1102.2725

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Hamilton's equations (70H05) Dynamical systems in classical and celestial mechanics (37N05) Lie algebras and Lie superalgebras (17B99) Normal forms for nonlinear problems in mechanics (70K45)

Abstract: In this paper we analyze the normal forms of a general quadratic Hamiltonian system defined on the dual of the Lie algebra $mathfrako(K)$ of real $K$ - skew - symmetric matrices, where $K$ is an arbitrary $3imes3$ real symmetric matrix. A consequence of the main results is that any first-order autonomous three-dimensional differential equation possessing two independent quadratic constants of motion which admits a positive/negative definite linear combination, is affinely equivalent to the classical "relaxed" free rigid body dynamics with linear controls.

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Cited in

(12)

• An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist
• Invariant control systems on Lie groups
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• Quadratic Hamilton-Poisson systems on \(\mathfrak{se}(1, 1)^\ast_{\_}\): the homogeneous case
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