Rolling motion dynamics of a spherical robot with a pendulum actuator controlled by the Bilimovich servo-constraint

Theoretical and Mathematical Physics - We discuss the problem of rolling without slipping for a spherical shell with a pendulum actuator (spherical robot) installed in the geometric center of the...     

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.     

On the solution of the equations of perturbed motion of an object-parachute system

We propose a method of finding the solutions of the equations of perturbed motion of an object-parachute system in analytic form. We perform an analysis of the roots of the characteristic equation of the linearized system. On the basis of the analysis we determine all the solutions of the equations of perturbed motion of the object-parachute system. We exhibit conditions under which the unperturbed motion (descent with slipping) is asymptotically stable.Translated fromDinamicheskie Sistemy, No. 6, 1987, pp. 41–46.     

Dynamic feedback control for cycle slipping in a phase-controlled system

This paper concerns the problem of cycle slipping for continuous phase-controlled systems with periodic nonlinearity. The number of slipped cycles is an important property in the transient mode of such nonlinear systems. On the basis of the Yakubovich–Kalman lemma, linear matrix inequality (LMI) characterizations are derived for the number of slipped cycles of such systems and an efficient way of estimating the number is proposed by solving a generalized eigenvalue minimization problem. Furthermore, by virtue of these results, a dynamic output feedback controller is designed to guarantee the nonexistence of cycle slipping. As a result, the transient performance of phase-controlled system is improved. A concrete application to the phase-locked loop shows the applicability and validity of the proposed approach.     

Chaplygin ball over a fixed sphere: an explicit integration

We consider a nonholonomic system describing the rolling of a dynamically nonsymmetric sphere over a fixed sphere without slipping. The system generalizes the classical nonholonomic Chaplygin sphere problem and it is shown to be integrable for one special ratio of radii of the spheres. After a time reparameterization the system becomes a Hamiltonian one and admits a separation of variables and reduction to Abel-Jacobi quadratures. The separating variables that we found appear to be a non-trivial generalization of ellipsoidal (spheroconic) coordinates on the Poisson sphere, which can be useful in other integrable problems. Using the quadratures we also perform an explicit integration of the problem in theta-functions of the new time.      

Asymptotic Analysis for a Class of Infinite Systems of First-Order PDE: Nonlinear Parabolic PDE in the Singular Limit

Abstract

We study the asymptotic behavior of solutions of the Cauchy problem for a functional partial differential equation with a small parameter as the parameter tends to zero. We establish a convergence theorem in which the limit problem is identified with the Cauchy problem for a nonlinear parabolic partial differential equation. We also present comparison and existence results for the Cauchy problem for the functional partial differential equation and the limit problem.     

Inverse problem for a quasilinear hyperbolic equation with a nonlocal boundary condition containing a delay argument

We consider a problem for a quasilinear hyperbolic equation with a nonlocal condition that contains a retarded argument. By reducing this problem to a nonlinear integrofunctional equation, we prove the existence and uniqueness theorem for its solution. We pose an inverse problem of finding a solution-dependent coefficient of the equation on the basis of additional information on the solution; the information is given at a fixed point in space and is a function of time. We prove the uniqueness theorem for the solution of the inverse problem. The proof is based on the derivation and analysis of an integro-functional equation for the difference of two solutions of the inverse problem.     

A problem with a nonlocal,with respect to time,condition for multidimensional hyperbolic equations

We study a boundary-value problem for a hyperbolic equation with a nonlocal with respect to time-variable integral condition. We obtain sufficient conditions for unique solvability of the nonlocal problem. The proof is based on reduction of the nonlocal first-type condition to the second-type one. This allows to reduce the nonlocal problem to an operator equation. We show that unique solvability of the operator equation implies the existence of a unique solution to the problem.     

Optimal control of solutions of the Showalter-Sidorov-Dirichlet problem for the Boussinesq-Love equation

An optimal control problem for a second-order Sobolev type equation with a relatively polynomially bounded operator pencil is considered. We prove the existence and uniqueness of a strong solution of the Showalter-Sidorov problem for this equation. Necessary and sufficient conditions for the existence and uniqueness of an optimal control of such solutions are obtained. We study the Showalter-Sidorov-Dirichlet problem for the Boussinesq-Love equation.     

Problem on small motions of ideal rotating relaxing fluid

We study an evolution problem on small motions of the ideal rotating relaxing fluid in bounded domains. We begin from the problem posing. Then we reduce the problem to a second-order integrodifferential equation in a Hilbert space. Using this equation, we prove a strong unique solvability problem for the corresponding initial-boundary value problem.     

A penalty approximation method for a semilinear parabolic double obstacle problem

In this work, we present a novel power penalty method for the approximation of a global solution to a double obstacle complementarity problem involving a semilinear parabolic differential operator and a bounded feasible solution set. We first rewrite the double obstacle complementarity problem as a double obstacle variational inequality problem. Then, we construct a semilinear parabolic partial differential equation (penalized equation) for approximating the variational inequality problem. We prove that the solution to the penalized equation converges to that of the variational inequality problem and obtain a convergence rate that is corresponding to the power used in the formulation of the penalized equation. Numerical results are presented to demonstrate the theoretical findings.     

Gellerstedt problem with a generalized Frankl matching condition on the type change line with data on external characteristics

We study the solvability of the Gellerstedt problem for the Lavrent’ev–Bitsadze equation with nonclassical matching conditions for the gradient of the solution (in the sense of Frankl) on the type change line of the equation. We prove that the inhomogeneous Gellerstedt problem with data on the external characteristics of the equation is solvable either uniquely or modulo a nontrivial solution of the homogeneous problem. We obtain integral representations of the solution of the problem in both the elliptic and the hyperbolic parts of the domain. The solution proves to be regular.     

A problem without initial conditions for a nonlinear ultraparabolic equation with degeneration

We consider the mixed problem for a second-order nonlinear degenerate ultraparabolic equation. We investigate the existence of generalized solutions of this problem in a bounded domain as well as of weak solutions (in the sense of a limit of sequences) of the problem without initial conditions for this equation.     

Dirichlet problem for a third-order equation of mixed type in a rectangular domain

For a third-order differential equation of parabolic-hyperbolic type, we suggest a method for studying the first boundary value problem by solving an inverse problem for a second-order equation of mixed type with unknown right-hand side. We obtain a uniqueness criterion for the solution of the inverse problem. The solution of the inverse problem and the Dirichlet problem for the original equation is constructed in the form of the sum of a Fourier series.     

Boundary value problem for a second-order elliptic equation in the exterior of an ellipse

We consider a boundary value problem for a second-order linear elliptic differential equation with constant coefficients in a domain that is the exterior of an ellipse. The boundary conditions of the problem contain the values of the function itself and its normal derivative. We give a constructive solution of the problem and find the number of solvability conditions for the inhomogeneous problem as well as the number of linearly independent solutions of the homogeneous problem. We prove the boundary uniqueness theorem for the solutions of this equation.     

Constructive Method for Solving a Boundary Value Problem with Impedance Boundary Condition for the Helmholtz Equation

We substantiate the collocation method for the singular integral equation of a boundary value problem with impedance condition for the Helmholtz equation. We construct a sequence converging to the exact solution of the original problem and estimate the error.     

Two-point boundary value problems for finite fractional difference equations

In this paper, we introduce a two-point boundary value problem for a finite fractional difference equation. We invert the problem and construct and analyse the corresponding Green's function. We then provide an application and obtain sufficient conditions for the existence of positive solutions for a two-point boundary value problem for a nonlinear finite fractional difference equation.     

Dirichlet problem for a nonlocal wave equation

We study the Dirichlet problem for a nonlocal wave equation in a rectangular domain. We prove the existence and uniqueness of a solution of the problem and show that determining whether the solution is unique can be reduced to determining whether a function of Mittag-Leffler type has real zeros. The obtained uniqueness condition turns into the uniqueness condition for the solution of the Dirichlet problem for the wave equation as the order of the fractional derivative in the equation tends to 2.     

再论弹性大挠度问题von Kármán方程与量子本征值问题Schrǒdinger方程的关系

本文是文[1]的继续和改善。利用本文的结果,还可以改善文[2～3]中有关弹性大挠度问题的讨论。在本文中,我们再次对弹性大挠度问题的von Kármán方程进行简化,使它最终成为非线性Schr?dinger方程。其次,在本文中我们对AKNS方程在多维条件下进行了更为对称的拓展。由于非线性Schr?dinger方程与AKNS方程即Dirac方程的可积性条件相联系,因此,弹性大挠度问题可以用逆散射方法求得其精确解,也就是说,它完全成了量子本征值问题。对于正交各向异性大挠度问题,本文也作了推论。     

Numerical analysis of an inverse problem for the eikonal equation

We are concerned with the inverse problem for an eikonal equation of determining the speed function using observations of the arrival time on a fixed surface. This is formulated as an optimisation problem for a quadratic functional with the state equation being the eikonal equation coupled to the so-called Soner boundary condition. The state equation is discretised by a suitable finite difference scheme for which we obtain existence, uniqueness and an error bound. We set up an approximate optimisation problem and show that a subsequence of the discrete mimina converges to a solution of the continuous optimisation problem as the mesh size goes to zero. The derivative of the discrete functional is calculated with the help of an adjoint equation which can be solved efficiently by using fast marching techniques. Finally we describe some numerical results.