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This paper presents a formulation of Lagrangian dynamics of constrained mechanical systems in terms of reduced quasi-velocities and quasi-forces that can be used for simulation, analysis, and control purposes. In this formulation, Cholesky…
The small oscillations of an arbitrary scleronomous system subject to time-independent non dissipative forces are discussed. The linearized equations of motion are solved by quadratures. As in the conservative case, the general integral is…
In orbital and attitude dynamics the coordinates and the Euler angles are expressed as functions of the time and six constants called elements. Under disturbance, the constants are endowed with time dependence. The Lagrange constraint is…
Within the framework of Lagrangian mechanics, the conservativeness of the hydrostatic forces acting on a floating rigid body is proved. The representation of the associated hydrostatic potential is explicitly worked out. The invariance of…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
We consider the assimilation of Lagrangian data into a primitive equations circulation model of the ocean at basin scale. The Lagrangian data are positions of floats drifting at fixed depth. We aim at reconstructing the four-dimensional…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the…
A new method is proposed for switching on interactions that are compatible with global symmetries and conservation laws of the original free theory. The method is applied to the control of stability in Lagrangian and non-Lagrangian theories…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
The Lagrangian formulation of classical mechanics is widely applicable in solving a vast array of physics problems encountered in the undergraduate and graduate physics curriculum. Unfortunately, many treatments of the topic lack…
In the framework of polysymplectic Hamiltonian formalism, degenerate Lagrangian field systems are described as multi-Hamiltonian systems with Lagrangian constraints. The physically relevant case of degenerate quadratic Lagrangians is…
The canonical treatment of dynamic systems with manifest Lagrangian constraints proposed by Berezin is applied to concrete examples: a special Lagrangian linear in velocities, relativistic particles in proper time gauge, a relativistic…
In the history of mechanics, there have been two points of view for studying mechanical systems: Newtonian and Cartesian. According the Descartes point of view, the motion of mechanical systems is described by the first-order differential…
For a one-dimensional conservative systems with position depending mass, one deduces consistently a constant of motion, a Lagrangian, and a Hamiltonian for the non relativistic case. With these functions, one shows the trajectories on the…
This paper considers the motion control of a particle and a spinning disc on rotating earth. The equations of motion are derived using Lagrangian mechanics. Trajectory planning is studied as an optimization problem using the method referred…
We describe in detail how to eliminate nonphysical degrees of freedom in the Lagrangian and Hamiltonian formulations of a constrained system. Two important and distinct steps in our method are the fixing of ambiguities in the dynamics and…
A modification of the canonical quantization procedure for systems with time-dependent second-class constraints is discussed and applied to the quantization of the relativistic particle in a plane wave. The time dependence of constraints…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
The jet bundle description of time-dependent mechanics is revisited. The constraint algorithm for singular Lagrangians is discussed and an exhaustive description of the constraint functions is given. By means of auxiliary connections we…