arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2002.09744math.OCmath.DG
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$2$ -dim.对$3$ -dim.黎曼流形滚动的可控性结果

Controllability results for the rolling of $2$-dim. against $3$-dim. Riemannian Manifolds

Amina Mortada, Yacine Chitour, Petri Kokkonen, Ali Wehbe

摘要:

本文考虑了维数分别为$2$和$3$的两个黎曼连通流形$(M,g)$和$(\hat{M},\hat{g})$在无自旋和无滑动约束下的滚动(或发展).本文的工作是\cite{MortadaKokkonenChitour}的继续,它将两个不同维数的黎曼连通流形的滚动作为纤维空间$Q$上的无漂移控制仿射系统建模,重点是理解滚动轨道的局部结构,即,$Q$中的可达集。本文证明了状态空间$Q$的维数为8,并证明了非开滚动轨道的可能维数属于集合$\{2,5,6,7\}$ .我们描述了$2$维的轨道结构,$5$维和某些$7$维的滚动轨道的可能局部结构.

英文摘要:

In this article, we consider the rolling (or development) of two Riemannian connected manifolds $(M,g)$ and $(\hat{M},\hat{g})$ of dimensions $2$ and $3$ respectively, with the constraints of no-spinning and no-slipping. The present work is a continuation of \cite{MortadaKokkonenChitour}, which modelled the general setting of the rolling of two Riemannian connected manifolds with different dimensions as a driftless control affine system on a fibered space $Q$, with an emphasis on understanding the local structure of the rolling orbits, i.e., the reachable sets in $Q$. In this paper, the state space $Q$ has dimension eight and we show that the possible dimensions of non open rolling orbits belong to the set $\{2,5,6,7\}$. We describe the structures of orbits of dimension $2$, the possible local structures of rolling orbits of dimension $5$ and some of dimension $7$.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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