Related papers: Variational Constrained Mechanics on Lie Affgebroi…
In this paper, we propose a novel algebraic and geometric description for the dissipative dynamics. Our formulation bears some similarity to the Poisson structure for non-dissipative systems. We develop a canonical description for…
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…
Variational principles for field theories where variations of fields are restricted along a parametrization are considered. In particular, gauge-natural parametrized variational problems are defined as those in which both the Lagrangian and…
We emphasize the usefulness of the Lie brackets in the context of classical and quantum mechanics. By way of examples we show that many dynamical systems, especially the ones with (gauge) constraints, can equally be treated in their time…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation with Vershik-Gershkovich one in the case of linear…
In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
This paper investigates the dynamics of nonholonomic mechanical systems, focusing on fundamental variational assumptions and the role of the transpositional rule. We analyze how the Cetaev condition and the first variation of constraints…
We introduce the notion of a Lie algebroid structure on an affine bundle whose base manifold is fibred over the real numbers. It is argued that this is the framework which one needs for coming to a time-dependent generalization of the…
Variational inequalities are an important mathematical tool for modelling free boundary problems that arise in different application areas. Due to the intricate nonsmooth structure of the resulting models, their analysis and optimization is…
We extend known constructions of almost-Poisson brackets and their gauge transformations to nonholonomic systems whose Lagrangian is not mechanical but possesses a gyroscopic term linear in the velocities. The new feature introduced by such…
The usual treatment of a (first order) classical field theory such as electromagnetism has a little drawback: It has a primary constraint submanifold that arise from the fact that the dynamics is governed by the antisymmetric part of the…
We study the dynamics of pairs of connected masses in the plane, when nonholonomic (knife-edge) constraints are realized by forces of viscous friction, in particular its relation to constrained dynamics, and its approximation by the method…
An extension of Riewe's fractional Hamiltonian formulation is presented for fractional constrained systems. The conditions of consistency of the set of constraints with equations of motion are investigated. Three examples of fractional…
Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
In this article, we generalize the theory of discrete Lagrangian mechanics and variational integrators in two principal directions. First, we show that Lagrangian submanifolds of symplectic groupoids give rise to discrete dynamical systems,…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
A relativistic quantum mechanics is studied for bound hadronic systems in the framework of the Point Form Relativistic Hamiltonian Dynamics. Negative energy states are introduced taking into account the restrictions imposed by a correct…