Energy integrals for mechanical systems with nonlinear nonholonomic constraints

On the stability of equilibria of nonholonomic systems with nonlinear constraints

On integral principles for nonholonomic systems

Classical theory for systems of the first order partial differential equations for a scalar function can be rephrased as the submanifold theory of contact manifolds (geometric first order jet spaces). In the same spirit, we will develop the geometric theory of systems of partial differential equations of second order for a scalar function as the Contact Geometry of Second Order, following E. Cartan.We will formulate the submanifold theory of second order jet spaces as the geometry of PD manifolds (R;D 1 ,D 2 ) of second order. Moreover we will establish the First Reduction Theorem for (R;D 1,D 2) admitting non-trivial Cauchy characteristic systems. By utilizing Parabolic Geometry, we will give, directly or combined with reduction theorems, several classes of systems of partial differential equations of second order, for which the model equation of each class admits the Lie algebra of infinitesimal contact transformations, which is finite dimensional and simple.

Exact solutions of some nonlinear systems of partial differential equations by using the first integral method

A method for reducing systems of partial differential equations to corresponding systems of ordinary differential equations is proposed. A system of equations describing two-dimensional, cylindrical, and spherical flows of a polytropic gas; a system of dimensionless Stokes equations for the dynamics of a viscous incompressible fluid; a system of Maxwell’s equations for vacuum; and a system of gas dynamics equations in cylindrical coordinates are studied. It is shown how this approach can be used for solving certain problems (shockless compression, turbulence, etc.).

In the first part of the paper we present a new point of view on the geometry of nonholonomic mechanical systems with linear and affine constraints. The main geometric object of the paper is the nonholonomic connection on the distribution of constraints. By using this connection and adapted frame fields, we obtain the Newton forms of Lagrange–d’Alembert equations for nonholonomic mechanical systems with linear and affine constraints. In the second part of the paper, we show that the Kaluza–Klein theory is best presented and explained by using the framework of nonholonomic mechanical systems. We show that the geodesics of the Kaluza–Klein space, which are tangent to the electromagnetic distribution, coincide with the solutions of Lagrange–d’Alembert equations for a nonholonomic mechanical system with linear constraints, and their projections on the spacetime are the geodesics from general relativity. Any other geodesic of the Kaluza–Klein space that is not tangent to the electromagnetic distribution is also a solution of Lagrange–d’Alembert equations, but for affine constraints. In particular, some of these geodesics project exactly on the solutions of the Lorentz force equations of the spacetime.

In this paper, we show direct connections between the conservation law (CL)-based method and the differential invariant (DI)-based method for obtaining nonlocally related systems and nonlocal symmetries for a given partial differential equation (PDE) system. For a PDE system with two independent variables, we show that the CL method is a special case for the DI method. For a PDE system with at least three independent variables, we show that the CL method, for a curl-type CL, is a special case for the DI method. We also consider the situation for a self-adjoint, i.e. variational, linear PDE system. Here, a solution of the linear PDE system yields a nonlocally related system for both approaches. In particular, the resulting nonlocally related systems need not be invertibly equivalent. Through an example, we show that three distinct nonlocally related systems can be obtained from an admitted point symmetry.

We employ two adaptive strategies for motion control of uncertain nonholonomic mechanical systems with chained form kinematics. Chained form systems possess sufficient structure to permit very effective control strategies to be developed for them. For example, these systems are differentially flat, which can be shown to be quite useful for motion control, and they are also easier to stabilize than some other classes of nonholonomic systems; both of these properties are exploited in the paper. As a consequence of the adaptive nature of the control laws and the properties of chained form systems, the employed schemes are simple and modular, are easily implemented with a wide range of mechanical systems, and provide a reasonable starting point for addressing such practical problems as collision avoidance and sensor-based planning and control. The first controller combines an efficient trajectory generation algorithm with an adaptive tracking strategy to obtain the desired motion control, while the second scheme achieves this control objective through the use of a stabilizing control law developed utilizing adaptation and homogeneous system theory. Each of the control strategies is computationally efficient, ensures accurate motion control, and is implementable in the presence of considerable uncertainty concerning the mechanical system model. The efficacy of the approach is illustrated through computer simulations with a single chain nonholonomic system.

For a class of nonlinear systems of partial differential equations of high order in a cylindrical domain the following boundary value problem is considered: Cauchy-type conditions are prescribed on the upper and lower bases of the cylinder, and a Robin-type condition is prescribed on the lateral part of the boundary. This boundary value problem is reduced in an equivalent way to a nonlinear functional equation in a certain subspace of the Sobolev space. Under certain assumptions about the nonlinear terms an a priori estimate is obtained for the solution of the problem in question and the existence of the solution is established, while in the case when these conditions fail, the absence of a solution is established. The question of uniqueness is also discussed for the solution. Bibliography: 18 titles.

A mathematical model for fluid transport in peritoneal dialysis is constructed. The model is based on a nonlinear system of two-dimensional partial differential equations with corresponding boundary and initial conditions. Using the classical Lie scheme, we establish that the base system of partial differential equations (under some restrictions on coefficients) is invariant under the infinite-dimensional Lie algebra, which enables us to construct families of exact solutions. Moreover, exact solutions with a more general structure are found using another (non-Lie) technique. Finally, it is shown that some of the solutions obtained describe the hydrostatic pressure and the glucose concentration in peritoneal dialysis.

The method of Lyapunov functions is used to investigate the stability of systems with distributed and lumped parameters, described by linear partial and ordinary differential equations. The original high-order partial differential equations are represented by a first-order system of partial differential evolution equations and constraint equations; to do that, we introduce additional variables. Passing to the first-order system of partial differential equations and representing ordinary differential equations in the normal Cauchy form, we obtain a possibility to construct the Lyapunov function as a sum of integral and classical quadratic forms and develop general methods of the investigation of the stability of a broad class of systems with distributed and lumped parameters. For example, we consider the stability of the work of the wind-driven lift pump and take into account the elasticity of the shaft transmitting the torque from the wind engine to the pump.

A new family of exact solutions to the unsteady Navier–Stokes equations using canonical transformation with complex coefficients

Singular perturbation problems for systems of partial differential equations of elliptic type

Existence of series solutions for certain nonlinear systems of time fractional partial differential equations

Kranc: a Mathematica package to generate numerical codes for tensorial evolution equations