On the Stability of Equilibria of Nonholonomic Systems With Nonlinear Constraints

V. Čović; M. Vesković; D. Djuri; A. Obradović

doi:10.3879/j.issn.1000-0887.2010.06.009

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V. Čović, M. Vesković, D. Djuri, A. Obradović. On the Stability of Equilibria of Nonholonomic Systems With Nonlinear Constraints[J]. Applied Mathematics and Mechanics, 2010, 31(6): 722-723. doi: 10.3879/j.issn.1000-0887.2010.06.009

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On the Stability of Equilibria of Nonholonomic Systems With Nonlinear Constraints

doi: 10.3879/j.issn.1000-0887.2010.06.009

1.
University of Belgrade, Faculty of Mechanical Engineering, Kraljice Marije 16, 11120 Belgrade, Serbia;

Received Date: 2009-12-14
Rev Recd Date: 2010-03-04
Publish Date: 2010-06-15

Abstract

Abstract

Liapunov's first method, extended by Kozlov to non linearm echanical systems, was applied to the study of the in stability of the position of equilibrium of amechanical system moving in the field of conservative and dissipative forces. The motion of the system was lmiited by ideal nonlinear nonholonomic constraints. Five cases determined by the relationship between the degree of the first non trivial polynomials in Maclaurin's series for the potential energy and the functions that can be generated from the equations of non linear nonholonomic constraints were analyzed. In the three cases the theoremon the instability of the position of equilibrium of non holonomic systems with linear homogeneous constraints (Kozlov (1986)) was generalized to the case of non linear nonhom ogeneous constraints. In the other two cases new theorems were setextending the result from Kozlov (1994) to nonholonomic systems with non linear constraints.
- Liapunov first method,
- nonholonomic system,
- in stability of equilibrium

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References(12)

References

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