This paper studies nonholonomic constraints in Hamiltonian systems, deriving equations and theorems.
problem Analyzing nonholonomic constraints in Hamiltonian systems.
method Deriving distributional RCH systems, geometric constraint conditions, and Hamilton-Jacobi theorems.
result Derives precise geometric constraint conditions and Hamilton-Jacobi theorems for nonholonomic systems.
Develops theory of contact systems with nonholonomic constraints.
problem Nonholonomic constraints in contact systems.
method Variational principle and projection of Hamiltonian vector field.
result Nonholonomic dynamics as projection of unconstrained dynamics.
Exact discrete mechanics for nonholonomic systems defined.
problem Discrete mechanics for nonholonomic systems.
method Constructing an exponential map and deriving exact discrete nonholonomic integrators.
result Reproduces continuous nonholonomic flow as discrete flow on constraint submanifold.
Study nonholonomic systems with collisions using variational principles.
problem Variational problems on nonholonomic systems with collisions.
method Extended variational principle, introduced connection on principal bundles, applied Lagrange–Poincaré–Pontryagin reduction.
result Implicit Lagrange–d'Alembert–Pontryagin equations for nonholonomic systems with collisions.
In this paper, for a variety of nonholonomic (reducible) Hamiltonian systems, we first give to various distributional Hamiltonian systems, by analyzing carefully the dynamics and structures of the nonholonomic Hamiltonian systems. Secondly, we derive precisely the geometric constraint conditions of the induced distribu…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee that the dynamics of the system can be obtained as a suitabl…
Paper analyzes dynamics of nonholonomic systems with collisions using variational techniques.
problem Analyzing the dynamics of nonholonomic mechanical systems with impacts.
method Variational techniques extended to nonsmooth context for collisions.
result Variational formulation for implicit nonholonomic mechanical systems with energy-momentum preserving collisions.
Geodesic extensions for systems with nonholonomic constraints.
problem Extending equations of motion for systems with nonholonomic constraints.
method Constructing extensions to second-order ODEs, investigating geodesic conditions.
result Conditions for nonholonomic trajectories to be geodesics of a Riemannian metric.
The reduction of nonholonomic systems is formulated in terms of Dirac reduction. An optimal reduction method for a class of nonholonomic systems is formulated. Several examples are studied in detail.
Generalizes Newmark methods for nonholonomic systems.
problem Energy behavior in nonholonomic systems.
method Nonholonomic exponential map to generalize Newmark methods.
result Composition of two Newmark methods can improve energy behavior.
Reduces Hamilton-Jacobi theory for nonholonomic systems with symmetries.
problem Hamilton-Jacobi theory for nonholonomic systems with symmetries.
method Reduction procedure for Hamilton-Jacobi equation.
result Reconstructs solutions in the unreduced picture from reduced equations.
This paper studies Hamilton-Jacobi equations for magnetic systems with constraints.
problem Understanding dynamics of magnetic systems with geometric constraints.
method Developed Hamilton-Jacobi equations for magnetic systems with nonholonomic constraints.
result Revealed relationships between magnetic structures, constraints, and dynamics.
Optimal tracking of nonholonomic systems using geometric methods.
problem Tracking a trajectory for nonholonomic mechanical systems.
method Geometric optimal control, Pontryagin Maximum Principle, variational approach.
result Optimal control solutions for nonholonomic systems validated by examples and simulations.
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifyin…
Paper extends Noether's Theorem to nonholonomic systems, proving conserved momentum.
problem Link between symmetries and first integrals broken in nonholonomic systems.
method Constructive method proving conserved momentum under certain conditions.
result Conserved momentum map in nonholonomic systems, extending Noether's Theorem.
Paper reduces nonholonomic systems with symmetries.
problem Nonholonomic systems with symmetries and conserved quantities.
method Two-step reduction procedure: first results in Chaplygin system, second in almost symplectic structure.
result Almost symplectic manifolds coincide with reduced nonholonomic brackets.
The paper explores infinite-dimensional nonholonomic and vakonomic systems.
problem Understanding dynamics of infinite-dimensional systems with constraints.
method Visualizing and revisiting classical and new examples of nonholonomic and vakonomic systems.
result Infinite-dimensional systems exhibit both nonholonomic and vakonomic dynamics.
Paper introduces Eden bracket for nonholonomic systems.
problem Nonholonomic contact systems with dissipation.
method Contact Eden bracket for system evolution.
result Evolution of observables in constrained systems.
New proof shows nonholonomic motions are geodesics, minimizing distance.
problem Nonholonomic motion equations are not variational.
method Proved geodesic property of nonholonomic trajectories using Riemannian metrics.
result Nonholonomic motions minimize distance in their manifold.
The paper studies hamiltonization of nonholonomic systems using geometric tools.
problem Hamiltonization of nonholonomic systems.
method Geometric tools, symmetries, first integrals, gauge transformation, 2-form, almost symplectic foliation.
result A new geometric proof of hamiltonization for a homogeneous ball rolling without sliding.
This paper deals with conservation laws for mechanical systems with nonholonomic constraints. It uses a Lagrangian formulation of nonholonomic systems and a Cartan form approach. We present what we believe to be the most general relations between symmetries and first integrals. We discuss the so-called nonholonomic Noe…
Study on relativistic nonholonomic mechanics with time-dependent constraints.
problem Formulating classical time-dependent nonholonomic mechanics.
method Invariant formulation using moving frames and Chaplygin systems.
result Hamiltonization of time-dependent constraints achieved.
Projective geodesic extensions for nonholonomic systems are derived under conformal transformations.
problem Deriving conditions for projective geodesic extensions in nonholonomic mechanics.
method Analyzing necessary and sufficient conditions for existence under conformal modifications.
result Conditions for existence of projective geodesic extensions in nonholonomic systems under conformal transformations.
Defines Jacobi fields in nonholonomic mechanics.
problem No specific problem stated; focuses on definition and properties.
method Characterizes Jacobi fields using Riemannian geometry methods and finds them explicitly. Uses complete lift and curvature/torsion of nonholonomic connection.
result Derives nonholonomic Jacobi equations in two equivalent ways.
This work extends reduction processes for nonholonomic discrete mechanical systems.
problem Nonholonomic discrete mechanical systems and their reductions.
method Introduces a category LDPd of discrete-time dynamical systems and a two-stage reduction process. result Two-stage reduction process produces systems isomorphic to one-stage reduction.
This paper simplifies complex nonholonomic systems using momentum map reduction.
problem Reducing complex nonholonomic systems with symmetries.
method Using nonholonomic momentum bundle map and gauge transformation.
result Reduced manifolds are Chaplygin-type leaves with an almost symplectic form.
The paper compares numerical schemes for nonholonomic systems using retraction maps.
problem Optimal control of nonholonomic systems with numerical approximations.
method Retraction maps used as seed for geometric integrators of Hamilton equations.
result Performance comparison of symplectic and non-symplectic integrators.
Develops integrators for nonholonomic systems on Lie groups.
problem Nonholonomic constraints on Lie groups.
method Using retraction maps and Hamel formulation.
result Structure-preserving numerical integrators for nonholonomic systems.
Study on friction forces for nonholonomic systems using affine connections.
problem Realizing nonholonomic constraints with strong friction forces.
method Affine connection approach, covariant derivatives, recursive procedure.
result Approximations of slip velocities and dynamics up to second order.
Study magnetic Hamiltonian systems with constraints, deriving Hamilton-Jacobi equations.
problem Understanding dynamics of controlled magnetic Hamiltonian systems with constraints.
method Defined CMH system, derived Hamilton-Jacobi equations for different constraints.
result Invariant solutions of Hamilton-Jacobi equations under CMH-equivalence.
The paper defines and proves equivalence of nonholonomic brackets in contact mechanical systems.
problem Nonholonomic constraints in contact geometry.
method Construct a general framework for non-holonomic constraints, define and prove equivalence of different nonholonomic brackets.
result All nonholonomic brackets coincide and one is an almost Jacobi bracket.
Develops high-order geometric integrators for nonholonomic systems.
problem Simulating nonholonomic mechanical systems with preserved geometric properties.
method High-order geometric (pseudo-variational) integrators for nonholonomic systems.
result Preserves the geometry and constraints of nonholonomic systems.
In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defined on QxQ, where Q is the configuration manifold, and a (generally nonintegrable) distribution in TQ. In the proposed method, a discretizati…
This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of nonholonomically constrained system, and characterize regularity conditions…
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle Q→R is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle VQ of Q→R, the Hamiltonian of a nonholonomic constrained system is constructed.
A new Dirac algebroid approach for nonholonomic systems.
problem Nonholonomic constraints in mechanical systems.
method Developed a Dirac algebroid to generate phase equations for systems with linear nonholonomic constraints.
result Unified approach to describe systems with different potentials.
New integrators for Lagrangian systems on homogeneous spaces derived from nonholonomic mechanics.
problem Numerical integration of Lagrangian systems on homogeneous spaces.
method Nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups.
result Preservation of properties in high-order numerical integrators.
Study on nonholonomic mechanics and sub-Finsler geometry.
problem Understanding nonholonomic mechanical systems and their geometric properties.
method Variational approach, sub-Finsler manifolds, nonholonomic sub-Finslerian structure.
result Existence and properties of extremals in nonholonomic mechanics.
New bracket unifies nonholonomic dynamics and Hamilton-Jacobi theory.
problem Unified description of nonholonomic dynamics and Hamilton-Jacobi theory.
method Defined and proved coincidence of three nonholonomic brackets.
result Three nonholonomic brackets coincide.
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the controlled dynamics is given by nonholonomic mechanical system. In our paper, the co…
We address the problem of constructing numerical integrators for nonholonomic Lagrangian systems that enjoy appropriate discrete versions of the geometric properties of the continuous flow, including the preservation of energy. Building on previous work on time-dependent discrete mechanics, our approach is based on a d…
In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the reduction process is a discrete dynamical system that we call the discrete reduce…
New bracket theory connects three nonholonomic dynamics models.
problem Nonholonomic dynamics and their bracket formulations.
method Definition and proof of equivalence of three nonholonomic brackets.
result Three nonholonomic brackets are equivalent.
New framework uses line bundles for time-dependent systems with constraints and forces.
problem Formulating Noether theorem for time-dependent nonholonomic systems.
method Using symmetries of line bundles associated with nondegenerate 1-forms and perturbed systems.
result Simplified formulation of momentum equation and Noether theorem.
Geometrically characterizes virtual nonlinear nonholonomic constraints using symplectic methods.
problem Characterizing virtual nonlinear nonholonomic constraints geometrically.
method Geometric characterization using symplectic structures and Chetaev equations.
result A unique control law exists to satisfy virtual constraints, and closed-loop dynamics are projections of uncontrolled dynamics.
This is the second paper in a series of works devoted to nonholonomic Ricci flows. By imposing non-integrable (nonholonomic) constraints on the Ricci flows of Riemannian metrics we can model mutual transforms of generalized Finsler-Lagrange and Riemann geometries. We verify some assertions made in the first partner pap…
Survey of recent developments in symmetric reductions and controls for Hamiltonian systems.
problem Understanding the internal relationships of geometric structures and controls in Hamiltonian systems with symmetry.
method Survey and introduction of recent developments in controlled Hamiltonian systems with symmetry.
result Reveals the relationships between geometric structures, nonholonomic constraints, dynamical vector fields, and controls.
In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show the link between vakonomic mechanics and nonholonomic mechanics from the viewpoi…