Dynamical Systems with Two Degrees of Freedom

Dynamical Systems with Two Degrees of Freedom.

Variational Integrators for Dynamical Systems with Rotational Degrees of Freedom

For the elastodynamic simulation of a geometrically exact beam, a variational integrator is derived from a PDE viewpoint. Variational integrators are symplectic and conserve discrete momentum maps and since the presented integrator is derived in the Lie group setting (unit quaternions for the representation of rotational degrees of freedom), it intrinsically preserves the group structure withou...

Apsidal Angles for Symmetrical Dynamical Systems with Two Degrees of Freedom

The bob of a spherical pendulum (or particle on a smooth sphere under gravity) oscillates between two levels, and the change of azimuth in passing from the lower to the higher level, or vice versa, is the same for all such passages during a single motion. Using the language of orbit theory, we shall refer to this change of azimuth as the apsidal angle. It is a function of the two constants of t...

Energy Shaping for Systems with Two Degrees of Underactuation and More than Three Degrees of Freedom

We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illust...

On Two-parameter Dynamical Systems and Applications

In this note some useful properties of strongly continuous two-parameter semigroups of operators are studied, an exponential formula for two-parameter semigroups of operators on Banach spaces is obtained and some applied examples of two-parameter dynamical systems are discussed