Dinamika Sistem Mekanik dengan Kendala Tak Holonomik pada Ruang Konfigurasi R2 T2 dan e2 T2
| Main Authors: | , ERNIDAWATI, , Dr. rer. nat. M. Farchani Rosyid |
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| Format: | Thesis NonPeerReviewed |
| Terbitan: |
[Yogyakarta] : Universitas Gadjah Mada
, 2011
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| Subjects: | |
| Online Access: |
https://repository.ugm.ac.id/89774/ http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=51453 |
Daftar Isi:
- Tricycle is a simple example of locomotion systems with nonholonomic constraints. Nonholonomic constraints involve velocities of the system and restrict the motion of the system in the phase space. A mechanical system is described by a Riemannan manifold and suitable mathematical objects �living� there. The dynamic of tricycle played on the plane as well as on oblate spheroidal surface has been formulated by making use of the so-called Port Controlled Hamiltonian System (PCHS) method. Unfortunately, this method still leaves undetermined Lagrangian multipliers. It is also difficult to determine the basis that vanishing constraint one-form and diagonalizing the inertia metric. The dynamic is then formulated by making use of another method which is more systematic, that is so-called constrained Levi-Civita connection. The method describes system subjected to nonholonomic constraints and external forces, so the Lagrangian multipliers can be eliminated from the equations.