This article is cited in 5 scientific papers (total in 5 papers)
The Dynamics of Systems with Servoconstraints. II
Valery V. Kozlov
Steklov Mathematical Institute, Russian Academy of Sciences, ul. Gubkina 8, Moscow, 119991 Russia
This paper addresses the dynamics of systems with servoconstraints where the constraints are realized by controlling the inertial properties of the system. Vakonomic systems are a particular case. Special attention is given to the motion on Lie groups with left-invariant kinetic energy and a left-invariant constraint. The presence of symmetries allows the dynamical equations to be reduced to a closed system of differential equations with quadratic right-hand sides. As the main example, we consider the rotation of a rigid body with a left-invariant servoconstraint, which implies that the projection of the body’s angular velocity on some body-fixed direction is zero.
servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides, vakonomic systems
|Russian Science Foundation
|This work was supported by the grant of the Russian Scientific Foundation (project 14-50-00005).
MSC: 70E18, 34C40
Valery V. Kozlov, “The Dynamics of Systems with Servoconstraints. II”, Regul. Chaotic Dyn., 20:4 (2015), 401–427
Citation in format AMSBIB
\by Valery V. Kozlov
\paper The Dynamics of Systems with Servoconstraints. II
\jour Regul. Chaotic Dyn.
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