Kinematic reduction and the Hamilton-Jacobi equation
A close relationship between the classical Hamilton- Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric alge...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2012 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/19874 |
| Acceso en línea: | https://hdl.handle.net/2117/19874 https://dx.doi.org/10.3934/jgm.2012.4.207 |
| Access Level: | acceso abierto |
| Palabra clave: | Hamilton-Jacobi equations Decoupling vector fields Hamilton-Jacobi equation Kinematic reduction Mechanical control systems Skew-symmetric algebroids Equacions de Hamilton-Jacobi Àrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica aplicada a les ciències |
| Sumario: | A close relationship between the classical Hamilton- Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric algebroid. This geometric structure allows us to describe in a simplified way the mechanics of nonholonomic systems with both control and external forces. |
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