Related papers: Variational Constrained Mechanics on Lie Affgebroi…
In this paper we have obtained some dynamics equations, in the presence of nonlinear nonholonomic constraints and according to a lagrangian and some Chetaev-like conditions. Using some natural regular conditions, a simple form of these…
Variational formulations of statics and dynamics of mechanical systems controlled by external forces are presented as examples of variational principles.
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…
Systems of ordinary differential equations (or dynamical forms in Lagrangian mechanics), induced by embeddings of smooth fibered manifolds over one-dimensional basis, are considered in the class of variational equations. For a given…
A system with anholonomic constraints where the trajectories of physical degrees of freedom are autoparallels on a manifold equipped with a general Cartan connection is discussed. A variational principle for the autoparallel trajectories is…
We introduce the notion of a symplectic Lie affgebroid and their Lagrangian submanifolds in order to describe the Lagrangian (Hamiltonian) dynamics on a Lie affgebroid in terms of this type of structures. Several examples are discussed.
We observe that a system of irreducible, fiber-linear, first class constraints on T*M is equivalent to the definition of a foliation Lie algebroid over M. The BFV formulation of the constrained system is given by the Hamiltonian lift of the…
A general, consistent and complete framework for geometrical formulation of mechanical systems is proposed, based on certain structures on affine bundles (affgebroids) that generalize Lie algebras and Lie algebroids. This scheme covers and…
The main aim of the present paper is to raise the doubt that vakonomic dynamics may not be satisfactory as a model for velocity dependent constraints.
The Hamiltonian description for a wide class of mechanical systems, having local symmetry transformations depending on time derivatives of the gauge parameters of arbitrary order, is constructed. The Poisson brackets of the Hamiltonian and…
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
Lie-Poisson gauge formalism provides a semiclassical description of noncommutative $U(1)$ gauge theory with Lie algebra type noncommutativity. Using the Dirac approach to constrained Hamiltonian systems, we focus on a class of Lie-Poisson…
We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of…
We provide a simultaneous derivation of the Dirac bracket and of the equations of motion for second-class constrained systems when the constraints are time-dependent. The necessity of time-dependent gauge-fixing conditions is shown in the…
In this paper, we consider a generalization of variational calculus which allows us to consider in the same framework different cases of mechanical systems, for instance, Lagrangian mechanics, Hamiltonian mechanics, systems subjected to…
We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
In the context of the variational bi-complex, we re-explain that irreducible gauge systems define a particular example of a Lie algebroid. This is used to review some recent and not so recent results on gauge, global and asymptotic…
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…