Kinematic reduction and the hamilton-jacobi equation Articles uri icon

authors

  • BARBERO LIÑAN, MARIA
  • LEON RODRIGUEZ, MANUEL DE
  • MARTIN DE DIEGO, DAVID
  • Marrero, J.C.
  • MUÑOZ LECANDA, MIGUEL C.

publication date

  • September 2012

start page

  • 207

end page

  • 237

issue

  • 3

volume

  • 4

International Standard Serial Number (ISSN)

  • 1941-4889

Electronic International Standard Serial Number (EISSN)

  • 1941-4897

abstract

  • 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 de fined 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.