On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints

The first Lyapunov method, extended by V. Kozlov to nonlinear mechanical systems, is applied to the study of the instability of the equilibrium position of a mechanical system moving in the field of potential and dissipative forces. The motion of the system is subject to the action of the ideal linear nonholonomic nonhomogeneous constraints. Five theorems on the instability of the equilibrium position of the above mentioned system are formulated. The theorem formulated in [V. V. Kozlov, On the asymptotic motions of systems with dissipation, J. Appl. Math. Mech. 58 (5) (1994) 787-792], which refers to the instability of the equilibrium position of the holonomic scleronomic mechanical system in the field of potential and dissipative forces, is generalized to the case of nonholonomic systems with linear nonhomogeneous constraints. In other theorems the algebraic criteria of the Kozlov type are transformed into a group of equations required only to have real solutions. The existence of such solutions enables the fulfillment of all conditions related to the initial algebraic criteria. Lastly, a theorem on instability has also been formulated in the case where the matrix of the dissipative function coefficients is singular in the equilibrium position. The results are illustrated by an example

The energy–momentum method for the stability of non-holonomic systems

In this paper we analyze the stability of relative equilibria of nonholonomic systems (that is, mechanical systems with nonintegrable constraints such as rolling constraints). In the absence of external dissipation, such systems conserve energy, but nonetheless can exhibit both neutrally stable and asymptotically stable, as well as linearly unstable relative equilibria. To carry out the stability analysis, we use a generalization of the energy-momentum method combined with the Lyapunov-Malkin theorem and the center manifold theorem. While this approach is consistent with the energy-momentum method for holonomic systems, it extends it in substantial ways. The theory is illustrated with several examples, including the the rolling disk, the roller racer, and the rattleback top

On Relativistic Generalization of Perelman's W-entropy and Statistical Thermodynamic Description of Gravitational Fields

Using double 2+2 and 3+1 nonholonomic fibrations on Lorentz manifolds, we extend the concept of W-entropy for gravitational fields in the general relativity, GR, theory. Such F- and W-functionals were introduced in the Ricci flow theory of three dimensional, 3-d, Riemannian metrics by G. Perelman, arXiv: math.DG/0211159. Nonrelativistic 3-d Ricci flows are characterized by associated statistical thermodynamical values determined by W--entropy. Generalizations for geometric flows of 4-d pseudo-Riemannian metrics are considered for models with local thermodynamical equilibrium and separation of dissipative and non-dissipative processes in relativistic hydrodynamics. The approach is elaborated in the framework of classical filed theories (relativistic continuum and hydrodynamic models) without an underlying kinetic description which will be elaborated in other works. The 3+1 splitting allows us to provide a general relativistic definition of gravitational entropy in the Lyapunov-Perelman sense. It increases monotonically as structure forms in the Universe. We can formulate a thermodynamic description of exact solutions in GR depending, in general, on all spacetime coordinates. A corresponding 2+2 splitting with nonholonomic deformation of linear connection and frame structures is necessary for generating in very general form various classes of exact solutions of the Einstein and general relativistic geometric flow equations. Finally, we speculate on physical macrostates and microstate interpretations of the W-entropy in GR, geometric flow theories and possible connections to string theory (a second unsolved problem also contained in Perelman's works) in the Polyakov's approach.Comment: latex2e, v4 is an accepted to EPJC substantial extension of a former letter type paper on 10 pages to a research article on 41 pages; a new author added, the paper's title and permanent and visiting affiliations were correspondingly modified; and new results, conclusions and references are provide

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance