The dynamics of systems with servoconstraints. II

    2015, Vol. 11, No. 3, pp.  579-611

    Author(s): Kozlov V. V.

    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.
    Keywords: servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides, vakonomic systems
    Citation: Kozlov V. V., The dynamics of systems with servoconstraints. II, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 3, pp.  579-611

    Download File
    PDF, 560.42 Kb

    Creative Commons License
    This work is licensed under a Creative Commons Attribution-NoDerivs 3.0 Unported License