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Title:
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Kinematic reduction and the Hamilton-Jacobi equation
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Author:
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Barbero Liñán, María; De León, Manuel; Martin de Diego, David; Marrero, Juan Carlos; Muñoz Lecanda, Miguel Carlos
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV; Universitat Politècnica de Catalunya. DGDSA - Geometria Diferencial, Sistemes Dinàmics i Aplicacions |
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Abstract:
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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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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica aplicada a les ciències
-Hamilton-Jacobi equations
-Decoupling vector fields
-Hamilton-Jacobi equation
-Kinematic reduction
-Mechanical control systems
-Skew-symmetric algebroids
-Equacions de Hamilton-Jacobi |
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Rights:
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Document type:
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Article - Draft
Article |
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Published by:
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American Institute of Mathematical Sciences
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