Controlled Lagrangians and stabilization of Euler-Poincaré equations with symmetry breaking nonholonomic constraints

DOI10.1007/S00332-024-10066-YMaRDI QIDQ6599776zbMATH OpenFDO

Authors Jorge S. Garcia, Tomoki Ohsawa

Publication date 6 September 2024

Published in Journal of Nonlinear Science (Search for Journal in Brave)

zbMATH Keywords

broken symmetrysemidirect productLie groupnonholonomic Euler-Poincaré equationspendulum skate

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Lagrange's equations (70H03) Control of mechanical systems (70Q05) Motion of a rigid body in contact with a solid surface (70E18) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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Cited in

(1)

• Almost-Poisson brackets for nonholonomic systems with gyroscopic terms and Hamiltonisation

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