Related papers: Lagrangian Mechanics and Variational Integrators o…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…
We present a structure preserving discretization of the fundamental spacetime geometric structures of fluid mechanics in the Lagrangian description in 2D and 3D. Based on this, multisymplectic variational integrators are developed for…
The Lagrangian and Eulerian transversal velocity structure functions of fully developed fluid turbulence are found basing on the Navier-Stokes equation. The structure functions are shown to obey the scaling relations inside the inertial…
Discrete variational methods show excellent performance in numerical simulations of mechanical systems. In this paper, we adapt discrete variational integrators for the case of mechanical systems with double-bracket dissipation. In…
The problem of formulating synchronous variational principles in the context of General Relativity is discussed. Based on the analogy with classical relativistic particle dynamics, the existence of variational principles is pointed out in…
Variational symplectic algorithms have recently been developed for carrying out long-time simulation of charged particles in magnetic fields. As a direct consequence of their derivation from a discrete variational principle, these…
A natural geometric framework is proposed, based on ideas of W. M. Tulczyjew, for constructions of dynamics on general algebroids. One obtains formalisms similar to the Lagrangian and the Hamiltonian ones. In contrast with recently studied…
This paper surveys various results concerning stability for the dynamics of Lagrangian (or Hamiltonian) systems on compact manifolds. The main, positive results state, roughly, that if the configuration manifold carries a hyperbolic metric,…
A method to construct a geometric structure with the same solutions as a given variational principle is presented. The method applies to large families of variational principles. In particular, the known results that assign cosymplectic…
We propose and compare several projection methods applied to variational integrators for degenerate Lagrangian systems, whose Lagrangian is of the form $L = \vartheta(q) \cdot \dot{q} - H(q)$ and thus linear in velocities. While previous…
In this paper, we propose a modified formal Lagrangian formulation by introducing dummy dependent variables and prove the existence of such a formulation for any system of differential equations. The corresponding Euler--Lagrange equations,…
A discrete version of Lagrangian reduction is developed in the context of discrete time Lagrangian systems on $G\times G$, where $G$ is a Lie group. We consider the case when the Lagrange function is invariant with respect to the action of…
We construct the Lagrangian formulation of a micro-structured spinning, dilating and shearing (deformable) test body, moving in arbitrary non-Riemannian backgrounds possessing all geometrical entities of curvature, torsion and…
This paper presents the Euler-Lagrange equations for fractional variational problems with multiple integrals. The fractional Noether-type theorem for conservative and nonconservative generalized physical systems is proved. Our approach uses…
We study the Euler-Lagrange cohomology and explore the symplectic or multisymplectic geometry and their preserving properties in classical mechanism and classical field theory in Lagrangian and Hamiltonian formalism in each case…
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard…
From the simple Lagrangian the equations of motion for the particle with spin are derived. The spin is shown to be conserved on the particle world-line. In the absence of a spin the equation coincides with that of a geodesic. The equations…
We analyze the relation between the concept of auxiliary variables and the Inverse problem of the calculus of variations to construct a Lagrangian from a given set of equations of motion. The problem of the construction of a consistent…
Based on the d'Alembert-Lagrange-Poincar\'{e} variational principle, we formulate general equations of motion for mechanical systems subject to nonlinear nonholonomic constraints, that do not involve Lagrangian undetermined multipliers. We…
We consider the incompressible three-dimensional Euler equations for a vortex ring with Kelvin waves undergoing radially expanding Lagrangian transport. To clarify the fundamental mechanisms underlying nonlinear scale-local deformations of…