Kinematic reduction and the Hamilton-Jacobi equation

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hdl:2117/19874
Document typeArticle
Defense date2012
PublisherAmerican Institute of Mathematical Sciences
Rights accessOpen Access
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Abstract
A close relationship between the classical Hamilton-
Jacobi theory and the kinematic reduction of control systems by
decoupling vector fields is shown in this paper. The geometric interpretation
of this relationship relies on new mathematical techniques
for mechanics defined on a skew-symmetric algebroid. This
geometric structure allows us to describe in a simplified way the
mechanics of nonholonomic systems with both control and external
forces.
CitationBarbero, M. [et al.]. Kinematic reduction and the Hamilton-Jacobi equation. "Journal of Geometric Mechanics", 2012, vol. 4, núm. 3, p. 207-237.
ISSN1941-4889
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