The dynamics of systems with servoconstraints. II

V. V. Kozlov

Russian journal of nonlinear dynamics, Tome 11 (2015) no. 3, pp. 579-611.

Résumé

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 servo-constraint, which implies that the projection of the body’s angular velocity on some body-fixed direction is zero.

Détail

Keywords: servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides, vakonomic systems.

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