Related papers: Control of mechanical systems on Lie groups and id…
In 1966 V.Arnold suggested a group-theoretic approach to ideal hydrodynamics in which the motion of an inviscid incompressible fluid is described as the geodesic flow of the right-invariant $L^2$-metric on the group of volume-preserving…
In this paper we investigate a variational discretization for the class of mechanical systems in presence of symmetries described by the action of a Lie group which reduces the phase space to a (non-trivial) principal bundle. By introducing…
Many physically important mechanical systems may be described with a Lie group $G$ as configuration space. According to the well-known Noether's theorem, underlying symmetries of the Lie group may be used to considerably reduce the…
Three dimensional unsteady flow of fluids in the Lagrangian description is considered as an autonomous dynamical system in four dimensions. The condition for the existence of a symplectic structure on the extended space is the frozen field…
It was shown in \cite{bloch2000optimal} that an optimal control formulation for incompressible ideal fluid flow yields Euler's equations. In this paper, we consider a variational obstacle-avoidance formulation for incompressible ideal flows…
We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a…
The Euler equation of an ideal (i.e. inviscid incompressible) fluid can be regarded, following V.Arnold, as the geodesic flow of the right-invariant $L^2$-metric on the group of volume-preserving diffeomorphisms of the flow domain. In this…
Generalized Lagrangian mean theories are used to analyze the interactions between mean flows and fluctuations, where the decomposition is based on a Lagrangian description of the flow. A systematic geometric framework was recently developed…
In this work, we consider optimal control problems for mechanical systems on vector spaces with fixed initial and free final state and a quadratic Lagrange term. Specifically, the dynamics is described by a second order ODE containing an…
In the Eulerian approach, the motion of an incompressible fluid is usually described by the velocity field which is given by the Navier--Stokes system. The velocity field generates a flow in the space of volume-preserving diffeomorphisms.…
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…
On the ground of origins of the theory of Lie groups and Lie algebras, their (co)adjoint representations, and the Pontryagin maximum principle for the time-optimal problem are given an independent foundation for methods of geodesic vector…
This paper is devoted to the study of mechanical systems subjected to external forces in the framework of symplectic geometry. We obtain a Noether's theorem for Lagrangian systems with external forces, among other results regarding…
The invariance theorems obtained in analytical mechanics and derived from Noether's theorems can be adapted to fluid mechanics. For this purpose, it is useful to give a functional representation of the fluid motion and to interpret the…
The paper considers one-dimensional flows of a polytropic gas in the Lagrangian coordinates in three cases: plain one-dimensional flows, radially symmetric flows and spherically symmetric flows. The one-dimensional flow of a polytropic gas…
Lie-symmetry methods are used to determine the symmetry group of reduced magnetohydrodynamics. This group allows for arbitrary, continuous transformations of the fields themselves, along with space-time transformations. The derivation…
In this article, we combine V. Arnold's celebrated approach via the Euler-Arnold equation -- describing the geodesic flow on a Lie group equipped with a right-invariant metric \cite{Arnold66} -- with his formulation of the motion of a…
Cauchy invariants are now viewed as a powerful tool for investigating the Lagrangian structure of three-dimensional (3D) ideal flow (Frisch & Zheligovsky, Commun. Math. Phys., vol. 326, 2014, pp. 499-505, Podvigina et al., J. Comput. Phys.,…
We study the dynamics of contact mechanical systems on Lie groups that are invariant under a Lie group action. Analogously to standard mechanical systems on Lie groups, existing symmetries allow for reducing the number of equations. Thus,…