Moving constraints as stabilizing controls in classical mechanics

DOI10.1007/S00205-009-0237-6zbMATH Open1304.70028arXiv0804.0398OpenAlexW3101032429WikidataQ59263946 ScholiaQ59263946MaRDI QIDQ982280FDOQ982280

Authors: Alberto Bressan, Franco Rampazzo 

Publication date: 6 July 2010

Published in: Archive for Rational Mechanics and Analysis (Search for Journal in Brave)

Abstract: The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms which are linear or quadratic w.r.t.time derivatives of the control functions. After reviewing the basic equations, we explain the significance of the quadratic terms, related to geodesics orthogonal to a given foliation. We then study the problem of stabilization of the system to a given point, by means of oscillating controls. This problem is first reduced to the weak stability for a related convex-valued differential inclusion, then studied by Lyapunov functions methods. In the last sections, we illustrate the results by means of various mechanical examples.

Full work available at URL: https://arxiv.org/abs/0804.0398

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Mathematics Subject Classification ID

Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Lagrange's equations (70H03) Control of mechanical systems (70Q05)

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Cited In (22)

• Optimal control of dynamical systems with polynomial impulses
• On the controllability of Lagrangian systems by active constraints
• Nondegenerate Abnormality, Controllability, and Gap Phenomena in Optimal Control with State Constraints
• Metric geometry of nonregular weighted Carnot-Carathéodory spaces
• Singular Limits for Impulsive Lagrangian Systems with Dissipative Sources
• A Higher-Order Maximum Principle for Impulsive Optimal Control Problems
• Stabilizability in optimization problems with unbounded data
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• \(\mathcal{L}^1\) limit solutions for control systems
• Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations
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• Converse Lyapunov theorems for control systems with unbounded controls
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• On motions with bursting characters for Lagrangian mechanical systems with a scalar control. II: A geodesic property of motions with bursting characters for Lagrangian systems
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• GOH Conditions for Minima of Nonsmooth Problems with Unbounded Controls
• Stabilizability in optimal control
• On \(\mathcal L^1\) limit solutions in impulsive control
• On BV-extension of asymptotically constrained control-affine systems and complementarity problem for measure differential equations
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