Stability of relative equilibria with singular momentum values in simple mechanical systems

A method for testing $G_\mu$-stability of relative equilibria in Hamiltonian systems of the form "kinetic + potential energy" is presented. This method extends the Reduced Energy-Momentum Method of Simo et al. to the case of non-free group actions and singular momentum values. A normal form for the symplectic matrix at a relative equilibrium is also obtained.Comment: Partially rewritten. Some mistakes fixed. Exposition improve

Critical manifolds and stability in Hamiltonian systems with non-holonomic constraints

We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained Hamiltonian system, which comprises the non-holonomic mechanical system as a dynamical subsystem on an invariant manifold. The embedding system possesses a completely natural structure in the context of symplectic geometry, and using it in order to understand properties of the subsystem has compelling advantages. We discuss generic geometric and topological properties of the critical sets of both embedding and physical system, using Conley-Zehnder theory and by relating the Morse-Witten complexes of the 'free' and constrained system to one another. Furthermore, we give a qualitative discussion of the stability of motion in the vicinity of the critical set. We point out key relations to sub-Riemannian geometry, and a potential computational application.Comment: LaTeX, 52 pages. Sections 2 and 3 improved, Section 5 adde

Normalizing connections and the energy-momentum method

The block diagonalization method for determining the stability of relative equilibria is discussed from the point of view of connections. We construct connections whose horizontal and vertical decompositions simultaneosly put the second variation of the augmented Hamiltonian and the symplectic structure into normal form. The cotangent bundle reduction theorem provides the setting in which the results are obtained

Euler configurations and quasi-polynomial systems

In the Newtonian 3-body problem, for any choice of the three masses, there are exactly three Euler configurations (also known as the three Euler points). In Helmholtz' problem of 3 point vortices in the plane, there are at most three collinear relative equilibria. The "at most three" part is common to both statements, but the respective arguments for it are usually so different that one could think of a casual coincidence. By proving a statement on a quasi-polynomial system, we show that the "at most three" holds in a general context which includes both cases. We indicate some hard conjectures about the configurations of relative equilibrium and suggest they could be attacked within the quasi-polynomial framework.Comment: 21 pages, 6 figure

Bifurcations of piecewise smooth flows:perspectives, methodologies and open problems

In this paper, the theory of bifurcations in piecewise smooth flows is critically surveyed. The focus is on results that hold in arbitrarily (but finitely) many dimensions, highlighting significant areas where a detailed understanding is presently lacking. The clearest results to date concern equilibria undergoing bifurcations at switching boundaries, and limit cycles undergoing grazing and sliding bifurcations. After discussing fundamental concepts, such as topological equivalence of two piecewise smooth systems, discontinuity-induced bifurcations are defined for equilibria and limit cycles. Conditions for equilibria to exist in n-dimensions are given, followed by the conditions under which they generically undergo codimension-one bifurcations. The extent of knowledge of their unfoldings is also summarized. Codimension-one bifurcations of limit cycles and boundary-intersection crossing are described together with techniques for their classification. Codimension-two bifurcations are discussed with suggestions for further study

Non-holonomy, critical manifolds and stability in constrained Hamiltonian systems

We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it comprises the mechanical system as a dynamical subsystem, which is confined to an invariant manifold. In certain aspects, the embedding system can be more easily analyzed than the mechanical system. We discuss the geometry and topology of the critical set of either system in the generic case, and prove results closely related to the strong Morse-Bott, and Conley-Zehnder inequalities. Furthermore, we consider qualitative issues about the stability of motion in the vicinity of the critical set. Relations to sub-Riemannian geometry are pointed out, and possible implications of our results for engineering problems are sketched.Comment: Latex, 58 page