Geometric control and numerical aspects of nonholonomic systems

DOI10.1007/b84020zbMath1009.70001OpenAlexW4255858329MaRDI QIDQ701225

Publication date: 17 October 2002

Published in: Lecture Notes in Mathematics (Search for Journal in Brave)

Full work available at URL: http://link.springer.de/link/service/series/0304/tocs/t1793.htm

zbMATH Keywords

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Variational principles of physics (49S05) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02)

Related Items

Uniform motions in central fields ⋮ Conservation of `moving' energy in nonholonomic systems with affine constraints and integrability of spheres on rotating surfaces ⋮ Hamiltonian theory of constrained impulsive motion ⋮ First integrals and symmetries of nonholonomic systems ⋮ Jacobi ﬁelds in nonholonomic mechanics ⋮ Variational integrators for mechanical control systems with symmetries ⋮ AN ELEMENTAL OVERVIEW OF THE NONHOLONOMIC NOETHER THEOREM ⋮ Invariant nonholonomic Riemannian structures on three-dimensional Lie groups ⋮ Historical and critical review of the development of nonholonomic mechanics: the classical period ⋮ Reduction and reconstruction aspects of second-order dynamical systems with symmetry ⋮ Discrete variational optimal control ⋮ Restricted Jacobi Fields ⋮ Contact Hamiltonian dynamics: Variational principles, invariants, completeness and periodic behavior ⋮ Lagrangian submanifolds and the Hamilton-Jacobi equation ⋮ Conserved quantities and Hamiltonization of nonholonomic systems ⋮ Integrability of nonholonomically coupled oscillators ⋮ On the discretization of nonholonomic dynamics in \(\mathbb{R}^n\) ⋮ Conservation of energy and momenta in nonholonomic systems with affine constraints ⋮ Variational integrators in discrete vakonomic mechanics ⋮ On variational integrators for optimal control of mechanical control systems ⋮ A historical review on nonholomic mechanics ⋮ Discrete Lagrange-d'Alembert-Poincaré equations for Euler's disk ⋮ Momentum map reduction for nonholonomic systems ⋮ Nonlinear nonholonomic systems: a simple approach and various examples ⋮ Invariant forms in hybrid and impact systems and a taming of Zeno ⋮ Nonholonomic systems with inequality constraints ⋮ A Herglotz-based integrator for nonholonomic mechanical systems ⋮ On the Schouten and Wagner curvature tensors ⋮ Interconnection of Lagrange–Dirac systems through nonstandard interaction structures ⋮ Unnamed Item ⋮ Theoretical analysis for a class of rheonomous affine constraints on configuration manifolds. II: Foliation structures and integrating algorithms ⋮ Theoretical analysis for a class of rheonomous affine constraints on configuration manifolds. I: Fundamental properties and integrability/nonintegrability conditions ⋮ Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints ⋮ The Lagrange-D'Alembert-Poincaré equations and integrability for the Euler's disk ⋮ Rubber rolling over a sphere ⋮ The reaction-annihilator distribution and the nonholonomic Noether theorem for lifted actions ⋮ NONHOLONOMIC CONSTRAINTS IN k-SYMPLECTIC CLASSICAL FIELD THEORIES ⋮ General framework for nonholonomic mechanics: Nonholonomic systems on Lie affgebroids ⋮ Nonholonomic connections, time reparametrizations, and integrability of the rolling ball over a sphere ⋮ Coadjoint Orbits and the Beginnings of a Geometric Representation Theory ⋮ Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems ⋮ Configuration controllability for non-zero potential mechanical control systems with dissipation ⋮ Unnamed Item ⋮ Unnamed Item ⋮ Linear connections and shape maps for second order ODEs with and without constraints ⋮ Radial kinetic nonholonomic trajectories are Riemannian geodesics! ⋮ Discrete nonholonomic Lagrangian systems on Lie groupoids ⋮ SYMMETRY REDUCTION OF BROWNIAN MOTION AND QUANTUM CALOGERO–MOSER MODELS ⋮ On the validity of the vakonomic model and the Chetaev model for constraint dynamical systems ⋮ Unnamed Item ⋮ Rolling of a symmetric sphere on a horizontal plane without sliding or spinning ⋮ Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints ⋮ Stochastic Chaplygin systems ⋮ Modeling and analysis of nonholonomic dynamic systems with a class of rheonomous affine constraints ⋮ A generalization of the Chetaev condition for nonlinear nonholonomic constraints: the velocity-determined virtual displacement approach ⋮ Hamiltonization of nonholonomic systems and the inverse problem of the calculus of variations ⋮ Uniform projectile motion: Dynamics, symmetries and conservation laws ⋮ Automorphisms for connections on Lie algebroids ⋮ Trajectory design for mechanical control systems: from geometry to algorithms ⋮ An extension of the Dirac and Gotay-Nester theories of constraints for Dirac dynamical systems ⋮ Pose stabilization of a bar tethered to two aerial vehicles ⋮ Gauge conservation laws and the momentum equation in nonholonomic mechanics ⋮ Probabilistic error bounds on constraint violation for empirical-analytical Lagrangian models of motion ⋮ THE CARTAN FORM FOR CONSTRAINED LAGRANGIAN SYSTEMS AND THE NONHOLONOMIC NOETHER THEOREM ⋮ Reduction of a Hamilton-Jacobi equation for nonholonomic systems ⋮ Lagrangian reduction of nonholonomic discrete mechanical systems by stages ⋮ What makes nonholonomic integrators work? ⋮ DYNAMICS AND BIFURCATIONS OF A NONHOLONOMIC HEISENBERG SYSTEM ⋮ Energy-preserving integrators applied to nonholonomic systems ⋮ Adjoint symmetries and the generation of first integrals in non-holonomic mechanics ⋮ The problem of Lagrange in discrete field theory ⋮ A nonholonomic approach to isoparallel problems and some applications ⋮ Optimal control of underactuated mechanical systems: A geometric approach ⋮ High-order integrators for Lagrangian systems on homogeneous spaces via nonholonomic mechanics ⋮ The Weitzenböck connection and time reparameterization in nonholonomic mechanics ⋮ NONHOLONOMIC DYNAMICS OF SECOND ORDER AND THE HEISENBERG SPINNING PARTICLE ⋮ A geometric characterization of certain first integrals for nonholonomic systems with symmetries ⋮ Unnamed Item ⋮ Geometric aspects of nonholonomic field theories