Integral estimation and adaptive stabilization of non-holonomic controlled systems

A method for the programmed stabilization of non-holonomic dynamic systems is proposed. The original problem is reduced to a constrained adaptive control problem with unknown perturbations, which are represented by the reactions of linear (not necessarily ideal) non-holonomic constraints. Effective control and parameter estimation algorithms are constructed for the exponential stabilization of the system. The method can be extended to non-holonomic systems whose parameters are not known in advance or undergo an unknown bounded drift with time.     

On the model of non-holonomic billiard

In this paper we develop a new model of non-holonomic billiard that accounts for the intrinsic rotation of the billiard ball. This model is a limit case of the problem of rolling without slipping of a ball without slipping over a quadric surface. The billiards between two parallel walls and inside a circle are studied in detail. Using the three-dimensional-point-map technique, the non-integrability of the non-holonomic billiard within an ellipse is shown.     

Hamiltonization of non-holonomic systems in the neighborhood of invariant manifolds

The problem of Hamiltonization of non-holonomic systems, both integrable and non-integrable, is considered. This question is important in the qualitative analysis of such systems and it enables one to determine possible dynamical effects. The first part of the paper is devoted to representing integrable systems in a conformally Hamiltonian form. In the second part, the existence of a conformally Hamiltonian representation in a neighborhood of a periodic solution is proved for an arbitrary (including integrable) system preserving an invariant measure. Throughout the paper, general constructions are illustrated by examples in non-holonomic mechanics.     

The brachistochrone motion of a mechanical system with non-holonomic, non-linear and non-stationary constraints

Further to previous studies /1, 2/ of the brachistochrone motion of non-holonomic mechanical systems with linear homogeneous constraints, consideration is given here to non-holonomic, non-linear and non-stationary mechanical systems. The problem is to formulate the differential equations of the brachistochrone motion of non-holonomic, non-linear and non-stationary mechanical systems and to determine the additional forces which must be introduced in order to implement motion of this type.     

A note on the disturbed equations of motion in the non-holonomic coordinates

Summary The aim of this article is to establish the disturbed equations of motion in the non-holonomic coordinates. The governing differential equations of non disturbed motion are the Hamel-Boltzman equations. The disturbed equations obtained in this article can be used for consideration in holonomic and non-holonomic dynamics systems. Entrata in Redazione 1'8 maggio 1972.     

Analysis of the motion of a non-holonomic mechanical system

The motion of a plane non-holonomic mechanical system, consisting of two point masses, which move in such a way that their velocities are mutually perpendicular, is analysed [Zekovi? D. Examples of non-linear non-holonomic constraints in classical mechanics. Vestnik MGU. Ser. 1. Matematika Mekhanika, 1991; 1:100–3]. The equations of the constraints of such a system are derived, the reactions of the constraints are calculated and the cyclical first integrals are written.     

Stabilization of the motions of mechanical systems with non-holonomic constraints

Mechanical systems possibly containing non-holonomic constraints are considered. The problem of stabilizing the motion of the system along a given manifold of its phase space is solved. A control law which does not involve the dynamcal parameters of the system is constructed. The law is universal, that is, it stabilizes motion along any given manifold. It is only necessary that the manifold be feasible, that is, conform to the dynamics of the system.     

One invariant measure and different poisson brackets for two non-holonomic systems

We discuss the non-holonomic Chaplygin and the Borisov-Mamaev-Fedorov systems, for which symplectic forms are different deformations of the square root from the corresponding invariant volume form. In both cases second Poisson bivectors are determined by L-tensors with non-zero torsion on configuration space, in contrast with the well-known Eisenhart-Benenti and Turiel constructions.     

Controllability and observability in the problem of stabilizing steady motions of non-holonomic mechanical systems with cyclic coordinatest

The approach to the solution of stabilization problems for steady motions of holonomic mechanical systems [1, 2] based on linear control theory, combined with the theory of critical cases of stability theory, is used to solve the analogous problems for non-holonomic systems. It is assumed that the control forces may affect both cyclic and positional coordinates, where the number r of independent control inputs may be considerably less than the number n of degrees of freedom of the system, unlike in many other studies (see, e.g., [3–5]), in which as a rule r = n. Several effective new criteria of controllability and observability are formulated, based on reducing the problem to a problem of less dimension. Stability analysis is carried out for the trivial solution of the complete non-linear system, closed by a selected control. This analysis is a necessary step in solving the stabilization problem for steady motion of a non-holonomic system (unlike holonomic systems), since in most cases such a system is not completely controllable.     

Stabilization of the stationary motions of non-holonomic mechanical systems

The possible stabilization of the unstable stationary motions of a non-holonomic system is studied from the standpoint of general control theory /1, 2/. As distinct from the case previously considered /3/, when forces of a certain structure are applied with respect to both positional and cyclical coordinates, the stabilization is obtained here by applying control forces only with respect to the cyclical coordinates /4/; the control forces may be applied with respect to some or all of the cyclical coordinates, and depend on the positional coordinates, the velocities, and the corresponding cyclical momenta. It is shown that, just as in the case of holonomic systems /5, 6/, depending on the control properties of the corresponding linear subsystem, the stationary motions, whether stable or unstable, can be stabilized, up to asymptotic stability with respect to all the phase variables, or asymptotic stability with respect to some of the phase variables and stability with respect to the remaining variables. The type of stabilization with respect to the given phase variables depends on the Lyapunov transformations which are needed in order to reduce the critical cases obtained to singular cases /7, 8/.     

The construction of Poincaré-Chetayevand Smale bifurcation diagrams for conservative non-holonomic systems with symmetry

The problem of the existence of first integrals which are linear functions of the generalized velocities (momenta and quasi-velocities) is discussed for conservative non-holonomic Chaplygin systems with symmetry, as well as methods for investigating the existence, stability, and bifurcation of the steady motions of such systems. These methods are based on the classical methods of Routh-Salvadori, Poincaré-Chetayev, and Smale, but unlike the latter they do not require a knowledge of the explicit form of the linear integrals. The general conclusions are illustrated by the example of the problem of an ellipsoid of revolution moving on an absolutely rough horizontal surface. It is shown how in this case numerical techniques can be used to construct the Poincaré-Chetayev diagram — a surface in the space of generalized coordinates and constants of linear first integrals corresponding to motions in which the velocities of the non-cyclic coordinates vanish, while those of the cyclic coordinates are constant, and the Smale diagram — a surface in the space of constants of linear first integrals and the energy integral corresponding to these motions.     

Variational principles of second, first and intermediate kinds for non-holonomic mechanics

The differential variational principles of second kind for non-holonomic mechanics are given, from which a number of integral variational principles of second kind are set up. From the latter, the general relation of δq′-δq and the general form of integral variational principles of the first kind and intermediate kinds are derived. Thus not only all previous relations of δq′-δq and integral variational principles are unified but also the existance of the variational principles of intermediate kinds are pointed out. Project supported by the National Natural Science Foundation of China (Grant No. 19272064).     

On the theory of motion of nonholonomic systems. The reducing-multiplier theorem

This classical paper by S.A. Chaplygin presents a part of his research in non-holonomic mechanics. In this paper, Chaplygin suggests a general method for integration of the equations of motion for non-holonomic systems, which he himself called the “reducing-multiplier method”. The method is illustrated on two concrete problems from non-holonomic mechanics. This paper produced a considerable effect on the further development of the Russian non-holonomic community. With the help of Chaplygin’s reducing-multiplier theory the equations for quite a number of non-holonomic systems were solved (such systems are known as Chaplygin systems). First published about a hundred years ago, this work has not lost its scientific significance and is hoped to be estimated at its true worth by the English-speaking world. This publication contributes to the series of RCD translations of Chaplygin’s scientific heritage. In 2002 we published two of his works (both cited in this one) in the special issue dedicated to non-holonomic mechanics (RCD, Vol. 7, no. 2). These translations along with translations of his other two papers on hydrodynamics (RCD, Vol. 12, nos. 1,2) aroused considerable interest and are broadly cited by modern researches. Originally published in: Matematicheskiĭ sbornik (Mathematical Collection), 1911, vol. 28, issue 1. The content of §§ 2 and 3 of this study was presented at the session of the Moscow Mathematical Society on December 11, 1906.     

非完整系统分析动力学中的几个重要问题

本文从变分原理和分析约束的力学性质两个方面入手,首次用演绎法推导出Chetaev条件,并且进行了验证,指出认为对非完整系统分析动力学d-δ交换性不成立的观点实际上是一种误解.在此基础上,首次提出非完整系统分析动力学中的两个经典关系.最后,进一步讨论了积分变分原理应用于非完整系统的问题.     

导出非线性非完整系统Mac－Millan方程的一种途径

只要由Ｊｏｕｒｄａｉｎ微分变分原理就能导出一阶非线性非完整系统的Ｍａｃ－Ｍｉｌｌａｎ方程，无需引入虚位移的牛青萍定义．后一定义只是本方法的自然推论．     

Steady motions and integral manifolds of systems with quadratic integrals

An investigation is made of conservative systems with an additional integral of motion which is quadratic in the velocity. A method which takes into account the specific features of the mechanical problems is proposed to describe steady motions and integral surfaces in phase space. As an example, a non-holonomic problem, involving the motion of a rigid body carrying a gyroscope is considered.     

Global connectivity and optimization on an infinite step distribution

This paper provides an example of a 2-dimensional distribution that does not satisfy Chow?s bracket generating condition, but is horizontally connected. We prove the global connectivity by non-holonomic geodesics. Explicit solutions for geodesics are obtained.     

导数空间另一类D’Alembert原理及任意阶非完整系统的新型Maggi方程

作为笔者在文献[1,2,3]中提出的“导数空间”和导数空间中“相当动能”的概念及“将非完整系统变为形式上的完整系统处理”思想的具体应用,本文导出了又一类新型的万有D′Alembert原理及适用于任意阶非完整系统的新型的Maggi方程,并给出了应用此方程的算例。     

关于高阶非完整系统的一类新型运动微分方程

本文首先得到高阶非完整系统的一类新型运动微分方程,其次证明它们与已知方程的等价性,最后举例说明新方程的应用.     

论非完整系统的Hamilton原理与完整系统的Hamilton原理的统一性

本文通过典型实例和理论分析证明了:在有势力作用下,对于非完整系统Hamilton原理同样有像完整系统那样使Lagrange函数取驻值的形式;使Lagrange函数变分对时间积分为零的形式是前者的演变形式;因此,两种形式是统一的。