On the Stability of Nonholonomic Systems with Symmetry

Dmitry Zenkov, Math Department, Ohio State University

We consider an energy-momentum approach to the stability of relative equilibria of nonholonomic systems with symmetry. In the absence of external dissipation such systems conserve energy, but nonetheless can exhibit both neutrally stable and asymptotically stable, as well as unstable, relative equilibria. We show that an energy-momentum method is effective for stability analysis and for stabilization of relative equilibria.