Related papers: Variational calculus with constraints on general a…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
We find a first--order partial differential equation whose solutions are all ultralocal scalar combinations of gravitational constraints with Abelian Poisson brackets between themselves. This is a generalisation of the Kucha\v{r} idea of…
In this paper we construct higher-order variational integrators for a class of degenerate systems described by Lagrangians that are linear in velocities. We analyze the geometry underlying such systems and develop the appropriate theory for…
We continue the study of symmetries in the Lagrangian formalism of arbitrary order with the help of the so-called Anderson-Duchamp-Krupka equations. For the case of second-order equations and arbitrary vector fields we are able to establish…
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…
Lagrangian systems with nonholonomic constraints may be considered as singular differential equations defined by some constraints and some multipliers. The geometry, solutions, symmetries and constants of motion of such equations are…
In this paper we consider second-order field theories in a variational setting. From the variational principle the Euler-Lagrange equations follow in an unambiguous way, but it is well known that this is not true for the Cartan form. This…
There is a well developed and useful theory of Hamiltonian reduction for semidirect products, which applies to examples such as the heavy top, compressible fluids and MHD, which are governed by Lie-Poisson type equations. In this paper we…
The language of Lagrangian submanifolds is used to extend a geometric characterization of the inverse problem of the calculus of variations on tangent bundles to regular Lie algebroids. Since not all closed sections are locally exact on Lie…
The variational properties of the scalar so--called ``Universal'' equations are reviewed and generalised. In particular, we note that contrary to earlier claims, each member of the Euler hierarchy may have an explicit field dependence. The…
A series of stationary principles are developed for dynamical systems by formulating the concept of mixed convolved action, which is written in terms of mixed variables, using temporal convolutions and fractional derivatives. Dynamical…
The structure functions of the Lagrangian gauge algebra are given explicitly in terms of the hamiltonian constraints and the first order Hamiltonian structure functions and their derivatives.
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
The calculus of variations on time scales is considered. We propose a new approach to the subject that consists in applying a differentiation tool called the contingent epiderivative. It is shown that the contingent epiderivative applied to…
In the holomorphic or algebraic setting we consider a vector bundle E on a smooth subvariety X in a smooth variety Y over a field of characteristic zero. Assuming E extends to the l-th neighborhood of X in Y, we study cohomological…
For For a given PDE system, or an exterior differential system possessing a Lie group of internal symmetries the orbit reduction procedure is introduced. It is proved that the solutions of the reduced exterior differential system are in…
Optimal control problems for underactuated mechanical systems can be seen as a higher-order variational problem subject to higher-order constraints (that is, when the Lagrangian function and the constraints depend on higher-order…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…
The projectability of Poincar\'e-Cartan forms in a third-order jet bundle $J^3\pi$ onto a lower-order jet bundle is a consequence of the degenerate character of the corresponding Lagrangian. This fact is analyzed using the constraint…
In general, the system of $2$nd-order partial differential equations made of the Euler-Lagrange equations of classical field theories are not compatible for singular Lagrangians. This is the so-called second-order problem. The first aim of…