Small oscillations of mechanical systems with an infinite number of degrees of freedom

2002 ◽  
pp. 167-244
Keyword(s):  
Infinite Number ◽  
Degrees Of Freedom ◽  
Mechanical Systems ◽  
Small Oscillations

Hamiltonian formulation for mechanical systems with nonholonomic constraints

2014 ◽  
Vol 11 (03) ◽  
pp. 1450017
Author(s):  
G. F. Torres del Castillo ◽  
O. Sosa-Rodríguez
Keyword(s):  
Finite Number ◽  
Mechanical System ◽  
Infinite Number ◽  
Degrees Of Freedom ◽  
Hamiltonian Structure ◽  
Equations Of Motion ◽  
Hamiltonian Formulation ◽  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Hamilton Equations

It is shown that for a mechanical system with a finite number of degrees of freedom, subject to nonholonomic constraints, there exists an infinite number of Hamiltonians and symplectic structures such that the equations of motion can be written as the Hamilton equations, with the original constraints incorporated in the Hamiltonian structure.

scholarly journals Higher spins from exotic dualisations

2021 ◽  
Vol 2021 (3) ◽  
Author(s):  
Nicolas Boulanger ◽  
Victor Lekeu
Keyword(s):  
Infinite Number ◽  
Arbitrary Number ◽  
Degrees Of Freedom ◽  
Young Tableaux ◽  
Spacetime Dimension ◽  
Massless Field ◽  
Free Level ◽  
Higher Spins

Abstract At the free level, a given massless field can be described by an infinite number of different potentials related to each other by dualities. In terms of Young tableaux, dualities replace any number of columns of height hi by columns of height D − 2 − hi, where D is the spacetime dimension: in particular, applying this operation to empty columns gives rise to potentials containing an arbitrary number of groups of D − 2 extra antisymmetric indices. Using the method of parent actions, action principles including these potentials, but also extra fields, can be derived from the usual ones. In this paper, we revisit this off-shell duality and clarify the counting of degrees of freedom and the role of the extra fields. Among others, we consider the examples of the double dual graviton in D = 5 and two cases, one topological and one dynamical, of exotic dualities leading to spin three fields in D = 3.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

scholarly journals Canonical transformations for fermions in superanalysis

2014 ◽  
Vol 26 (06) ◽  
pp. 1450009
Author(s):  
Joachim Kupsch
Keyword(s):  
Infinite Number ◽  
Orthogonal Group ◽  
Degrees Of Freedom ◽  
Fock Space ◽  
Continuous Representation ◽  
Canonical Transformations ◽  
Module Extension ◽  
Bogoliubov Transformations

Canonical transformations (Bogoliubov transformations) for fermions with an infinite number of degrees of freedom are studied within a calculus of superanalysis. A continuous representation of the orthogonal group is constructed on a Grassmann module extension of the Fock space. The pull-back of these operators to the Fock space yields a unitary ray representation of the group that implements the Bogoliubov transformations.

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