Global variational methods on smooth nonholonomic constraints

On Robust Multigrid Methods for Non{Smooth Variational Problems

Nonholonomic kinematic constraints in elasticity

A geometrically exact model of a Cosserat rod with nonholonomic constraints is outlined. The constraint forces are derived from the framework of nonholonomic mechanics by using arguments from Cauchy analysis, and a thorough discussion is given concerning the nature of these constraints. By making an additional assumption on the magnitude of the deflections, a simplified model similar to the Eul...

Nonholonomic constraints with fractional derivatives

We consider the fractional generalization of nonholonomic constraints defined by equations with fractional derivatives and provide some examples. The corresponding equations of motion are derived using variational principle. We prove that fractional constraints can be used to describe the evolution of dynamical systems in which some coordinates and velocities are related to velocities through a...

Optimal Transportation under Nonholonomic Constraints

We study Monge’s optimal transportation problem, where the cost is given by optimal control cost. We prove the existence and uniqueness of an optimal map under certain regularity conditions on the Lagrangian, absolute continuity of the measures with respect to Lebesgue, and most importantly the absence of sharp abnormal minimizers. In particular, this result is applicable in the case of subriem...

Variational Integrators for Hamiltonizable Nonholonomic Systems

We report on new applications of the Poincaré and Sundman timetransformations to the simulation of nonholonomic systems. These transformations are here applied to nonholonomic mechanical systems known to be Hamiltonizable (briefly, nonholonomic systems whose constrained mechanics are Hamiltonian after a suitable time reparameterization). We show how such an application permits the usage of vari...