A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.
New developments on the Geometric Nonholonomic Integrator
Universidad Nacional del Sur（南方大学）；Instituto de Matemática Bahía Blanca（巴塔哥尼亚数学研究所）；CONICET（阿根廷国家科学研究委员会）；Zentrum Mathematik der Technische Universität München（慕尼黑工业大学数学中心）；Instituto de Ciencias Matemáticas, CSIC-UAM-UC3M-UCM（马德里高等科学研究院（由CSIC、UAM、UC3M、UCM联合组建））
We propose two types of stochastic extensions of nonholonomic constraints for mechanical systems. Our approach relies on a stochastic extension of the Lagrange-d'Alembert framework. We consider in details the case of invariant nonholonomic systems on the group of rotations and on the special Euclidean group. Based on this, we then develop two types of stochastic deformations of the Suslov problem and study the possibility of extending to the stochastic case the preservation of some of its integrals of motion such as the Kharlamova or Clebsch-Tisserand integrals.
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic bracket gives rise to a new bracket on the reduced space codifying the nonholonomic dynamics and carrying an almost symplectic foliation (determined by the common level sets of the first integrals). In appropriate coordinates, this 2-form is shown to agree with the one previously introduced locally in [34]. We use our coordinate-free viewpoint to study various g…
We study the existence of first integrals in nonholonomic systems with symmetry. First we define the concept of $\mathcal{M}$-cotangent lift of a vector field on a manifold $Q$ in order to unify the works [Balseiro P., Arch. Ration. Mech. Anal. 214 (2014), 453-501, arXiv:1301.1091], [Fassò F., Ramos A., Sansonetto N., Regul. Chaotic Dyn. 12 (2007), 579-588], and [Fassò F., Giacobbe A., Sansonetto N., Rep. Math. Phys. 62 (2008), 345-367]. Second, we study gauge symmetries and gauge momenta, in the cases in which there are the symmetries that satisfy the so-called vertical symmetry condition. Un…
We prove a nonholonomic version of the classical Mauper\-tuis-Jacobi principle which transforms an autonomous mechanical nonholonomic problem, determined by a kinetic minus potential energy and a distribution, in a kinetic nonholonomic problem over a fixed level set of the Lagrangian energy. To prove this result we introduce an appropriate contact bundle structure clarifying the geometric equivalence between both problems. By using the nonholonomic Maupertuis-Jacobi principle, we prove that the regular solutions of a mechanical nonholonomic problem starting from a fixed point and in the same l…
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual affine nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant affine distribution associated with an affine connection mechanical control system. We show the existence and uniqueness of a control law defining a virtual affine nonholonomic constraint.
Starting from a contact Hamiltonian description of Liénard systems, we introduce a new family of explicit geometric integrators for these nonlinear dynamical systems. Focusing on the paradigmatic example of the van der Pol oscillator, we demonstrate that these integrators are particularly stable and preserve the qualitative features of the dynamics, even for relatively large values of the time step and in the stiff regime.
Using double 2+2 and 3+1 nonholonomic fibrations on Lorentz manifolds, we extend the concept of W-entropy for gravitational fields in the general relativity, GR, theory. Such F- and W-functionals were introduced in the Ricci flow theory of three dimensional, 3-d, Riemannian metrics by G. Perelman, arXiv: math.DG/0211159. Nonrelativistic 3-d Ricci flows are characterized by associated statistical thermodynamical values determined by W--entropy. Generalizations for geometric flows of 4-d pseudo-Riemannian metrics are considered for models with local thermodynamical equilibrium and separation of …
