Related papers: Dirac structures, nonholonomic systems and reducti…
We study the discretization of (almost-)Dirac structures using the notion of retraction and discretization maps on manifolds. Additionally, we apply the proposed discretization techniques to obtain numerical integrators for port-Hamiltonian…
We consider nonholonomic systems which symmetry groups consist of two subgroups one of which represents rotations about the axis of symmetry. After nonholonomic reduction by another subgroup the corresponding vector fields on partially…
The way of finding all the constraints in the Hamiltonian formulation of singular (in particular, gauge) theories is called the Dirac procedure. The constraints are naturally classified according to the correspondig stages of this…
So far, it is not well known how to deal with dissipative systems. There are many paths of investigation in the literature and none of them present a systematic and general procedure to tackle the problem. On the other hand, it is well…
The constrained Hamiltonian systems admitting no gauge conditions are considered. The methods to deal with such systems are discussed and developed. As a concrete application, the relationship between the Dirac and reduced phase space…
The concept of a Dirac algebroid, which is a linear almost Dirac structure on a vector bundle, was designed to generate phase equations for mechanical systems with linear nonholonomic constraints. We apply it to systems with magnetic-like…
We show that many important natural science models in their mathematical formulation can be reduced to non-strictly hyperbolic systems of the same kind. This allows the same methods to be applied to them so that some essential results…
The purposes of this paper are to classify lower triangular forms and to determine under what conditions a nonlinear system is equivalent to a specific type of lower triangular forms. According to the least multi-indices and the greatest…
A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and…
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete…
We extend Hamilton-Jacobi theory to Lagrange-Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer…
The purpose of this paper is to generalize the regular Optimal Reduction Theorem to general proper Dirac actions, formulated both in terms of point and orbit reduction. A comparison to general standard singular Dirac reduction is given…
In this paper, non-Hamiltonian systems with holonomic constraints are treated by a generalization of Dirac's formalism. Non-Hamiltonian phase space flows can be described by generalized antisymmetric brackets or by general Liouville…
The reduction of Hamiltonian systems aims to build smaller reduced models, valid over a certain range of time and parameters, in order to reduce computing time. By maintaining the Hamiltonian structure in the reduced model, certain…
In this article, we prove that Dirac brackets for Hamiltonian and non-Hamiltonian constrained systems can be derived recursively. We then study the applicability of that formulation in analysis of some interesting physical models.…
We study the theory of systems with constraints from the point of view of the formal theory of partial differential equations. For finite-dimensional systems we show that the Dirac algorithm completes the equations of motion to an…
The notion of singular reduction modules, i.e., of singular modules of nonclassical (conditional) symmetry, of differential equations is introduced. It is shown that the derivation of nonclassical symmetries for differential equations can…
Using the nonholonomic exponential map, we generalize the well-known family of Newmark methods for nonholonomic systems. We give numerical examples including a test problem where the structure of reversible integrability responsible for…
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined…
Port-based network modeling of multi-physics problems leads naturally to a formulation as port-Hamiltonian differential-algebraic system. In this way, the physical properties are directly encoded in the structure of the model. Since the…