Related papers: Variational Constrained Mechanics on Lie Affgebroi…
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…
In Hamiltonian time-dependent mechanics, the Poisson bracket does not define dynamic equations, that implies the corresponding peculiarities of describing time-dependent holonomic constraints. As in conservative mechanics, one can consider…
We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics…
In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a…
In this study, it is introduced paracomplex analogue of Lagrangians and Hamiltonians with constraints in the framework of para-Kaehlerian manifolds. The geometrical and mechanical results on the constrained mechanical system have also been…
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle $Q\to R$ is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle $VQ$ of $Q\to…
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie…
We study the existence of Hamiltonian semisprays on Lie algebroids. This work is motivated by a problem studied by Vaisman for tangent bundles, and we extend this question to the setting of arbitrary Lie algebroids and provide a general…
The study of mechanical systems on Lie algebroids permits an understanding of the dynamics described by a Lagrangian or Hamiltonian function for a wide range of mechanical systems in a unified framework. Systems defined in tangent bundles,…
We discuss the notion of basic cohomology for Dirac structures and, more generally, Lie algebroids. We then use this notion to characterize the obstruction to a variational formulation of Dirac dynamics.
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
A VB-algebroid is a vector bundle object in the category of Lie algebroids. We attach to every VB-algebroid a differential graded Lie algebra and we show that it controls deformations of the VB-algebroid structure. Several examples and…
The variational formalism for classical field theories is extended to the setting of Lie algebroids. Given a Lagrangian function we study the problem of finding critical points of the action functional when we restrict the fields to be…
We introduce the concept of a variational tricomplex, which is applicable both to variational and non-variational gauge systems. Assigning this tricomplex with an appropriate symplectic structure and a Cauchy foliation, we establish a…
We review some recent results on the theory of Lagrangian systems on Lie algebroids. In particular we consider the symplectic and variational formalism and we study reduction. Finally we also consider optimal control systems on Lie…
We show that the contact dynamics obtained from the Herglotz variational principle can be described as a constrained nonholonomic or vakonomic ordinary Lagrangian system depending on a dissipative variable with an adequate choice of one…
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly…
We study mechanical systems subject to constraint functions that can be dependent at some points and independent at the rest. Such systems are modelled by means of generalized codistributions. We discuss how the constraint force can…
We introduce a new cohomology for Lie algebroids, and prove that it provides a differential graded Lie algebra which ``controls'' deformations of the structure bracket of the algebroid. We also have a closer look at various special cases…