Kinematic reduction and the Hamilton-Jacobi equation | Zendy

María Barbero-Liñán | Zendy; Manuel de León | Zendy; David Martı́n de Diego | Zendy; Juan Carlos Marrero | Zendy; Miguel C. MuñozLecanda | Zendy

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Kinematic reduction and the Hamilton-Jacobi equation

Author(s) -

María Barbero-Liñán,

Manuel de León,

David Martı́n de Diego,

Juan Carlos Marrero,

Miguel C. MuñozLecanda

Publication year - 2012

Publication title -

the journal of geometric mechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.511

H-Index - 17

eISSN - 1941-4897

pISSN - 1941-4889

DOI - 10.3934/jgm.2012.4.207

Subject(s) - kinematics , decoupling (probability) , reduction (mathematics) , hamilton–jacobi equation , mathematics , skew , classical mechanics , computer science , geometry , physics , engineering , control engineering , telecommunications

A close relationship between the classical Hamilton-\udJacobi theory and the kinematic reduction of control systems by\uddecoupling vector fields is shown in this paper. The geometric interpretation\udof this relationship relies on new mathematical techniques\udfor mechanics defined on a skew-symmetric algebroid. This\udgeometric structure allows us to describe in a simplified way the\udmechanics of nonholonomic systems with both control and external\udforces.Peer ReviewedPreprin

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