Realizing nonholonomic dynamics as limit of friction forces
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Abstract: The classical question whether nonholonomic dynamics is realized as limit of friction forces was first posed by Carath'eodory. It is known that, indeed, when friction forces are scaled to infinity, then nonholonomic dynamics is obtained as a singular limit. Our results are twofold. First, we formulate the problem in a differential geometric context. Using modern geometric singular perturbation theory in our proof, we then obtain a sharp statement on the convergence of solutions on infinite time intervals. Secondly, we set up an explicit scheme to approximate systems with large friction by a perturbation of the nonholonomic dynamics. The theory is illustrated in detail by studying analytically and numerically the Chaplygin sleigh as example. This approximation scheme offers a reduction in dimension and has potential use in applications.
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Cited in
(12)- Realization of non-holonomic constraints and singular perturbation theory for plane dumbbells
- Dynamics of a smooth profile in a medium with friction in the presence of parametric excitation
- Comparing dynamics initiated by an attached oscillating particle for the nonholonomic model of a Chaplygin sleigh and for a model with strong transverse and weak longitudinal viscous friction applied at a fixed point on the body
- Gait modeling and optimization for the perturbed Stokes regime
- On final motions of a Chaplygin ball on a rough plane
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- Global linearization and fiber bundle structure of invariant manifolds
- The rolling of a homogeneous ball with slipping on a horizontal rotating plane
- Constructive Method of Decomposition in Singularly Perturbed Problems of Non-holonomic Mechanics
- The motion of a balanced circular cylinder in an ideal fluid under the action of external periodic force and torque
- Constraint realization-based Hamel field integrator for geometrically exact planar Euler-Bernoulli beam dynamics
- Affine constraints in nonreversible diffusions with degenerate noise
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