Canonical transformation

About: Canonical transformation is a research topic. Over the lifetime, 1854 publications have been published within this topic receiving 38019 citations.

Chaotic motion in a class of asymmetrical Kelvin type gyrostat satellite

Abstract: This work is an investigation on the roots of chaotic attitudinal motion in a class of asymmetrical gyrostat satellites. The result shows that for a class of Kelvin type gyrostat satellite, there is an equivalent rigid spinning satellite with the same attitude dynamics. Finding some constants of motion and eliminating the cyclic coordinates, the rotational kinetic energy is changed to a quadratic form and using Jordan canonical form of the associated inertia tensor and transforming the coordinate system, the Hamiltonian has been changed to those of a rigid satellite. The Hamiltonian has been split into integrable and non-integrable parts. Using Deprit canonical transformation and Andoyer variables the integrable part has been reduced to a one-dimensional form. The reduced Hamiltonian shows that the regular dynamics of the satellite can be chaotic, under the influence of gravitational effects. To demonstrate various attitudinal dynamics of the satellite, a second-order Poincare map is employed. This research shows firstly, that the attitudinal dynamics of Kelvin type gyrostat satellites and rigid satellites follow the same dynamical patterns, secondly, for non-linear analysis of dynamics of gyrostat satellite based on the perturbation methods, there is a preferable form for Hamiltonian of the system in the near-integrable fashion and thirdly the chaotic motion is originated from the gravitational field effects that can be suppressed by increasing the attitudinal energy of the satellite in comparison with the translational energy.

Exponentially sparse representations of Fourier integral operators

Abstract: We investigate the sparsity of the Gabor-matrix representation of Fourier integral operators with a phase having quadratic growth. It is known that such an infinite matrix is sparse and well organized, being in fact concentrated along the graph of the corresponding canonical transformation. Here we show that, if the phase and symbol have a regularity of Gevrey type of order $s>1$ or analytic ($s=1$), the above decay is in fact sub-exponential or exponential, respectively. We also show by a counterexample that ultra-analytic regularity ($s<1$) does not give super-exponential decay. This is in sharp contrast to the more favorable case of pseudodifferential operators, or even (generalized) metaplectic operators, which are treated as well.

On Tracking Control of Rigid-Joint Robots With Only Position Measurements

Abstract: In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.