Related papers: Variational and Geometric Structures of Discrete D…
Variational integrators are derived for structure-preserving simulation of stochastic Hamiltonian systems with a certain type of multiplicative noise arising in geometric mechanics. The derivation is based on a stochastic discrete…
We study higher-order analogues of Dirac structures, extending the multisymplectic structures that arise in field theory. We define higher Dirac structures as involutive subbundles of $TM+\wedge^k TM^*$ satisfying a weak version of the…
In this work we introduce a category $LDP_d$ of discrete-time dynamical systems, that we call discrete Lagrange--D'Alembert--Poincar\'e systems, and study some of its elementary properties. Examples of objects of $LDP_d$ are nonholonomic…
Variational symplectic algorithms have recently been developed for carrying out long-time simulation of charged particles in magnetic fields. As a direct consequence of their derivation from a discrete variational principle, these…
In this paper structure-preserving time-integrators for rigid body-type mechanical systems are derived from a discrete Hamilton-Pontryagin variational principle. From this principle one can derive a novel class of variational partitioned…
Using well known Lagrangean techniques for uncovering the gauge symmetries of a Lagrangean, we derive the transformation laws for the phase space variables corresponding to local symmetries of the Hamilton equations of motion. These…
We present a geometric framework for discrete classical field theories, where fields are modeled as "morphisms" defined on a discrete grid in the base space, and take values in a Lie groupoid. We describe the basic geometric setup and…
The systematization of the purely Lagrangean approach to constrained systems in the form of an algorithm involves the iterative construction of a generalized Hessian matrix W taking a rectangular form. This Hessian will exhibit as many left…
In this Thesis we develop the geometric formulations for higher-order autonomous and non-autonomous dynamical systems, and second-order field theories. In all cases, the physical information of the system is given in terms of a Lagrangian…
In this article we generalize the discrete Lagrangian and Hamiltonian mechanics on Lie groups to non-associative objects generalizing Lie groups (smooth loops). This shows that the associativity assumption is not crucial for mechanics and…
Using Dirac's approach to constrained dynamics, the Hamiltonian formulation of regular higher order Lagrangians is developed. The conventional description of such systems due to Ostrogradsky is recovered. However, unlike the latter, the…
The aim of this work is to study the geometry underlying mechanics and its application to describe autonomous and nonautonomous conservative dynamical systems of different types; as well as dissipative dynamical systems. We use different…
In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…
Dirac algorithm allows to construct Hamiltonian systems for singular systems, and so contributing to its successful quantization. A drawback of this method is that the resulting quantized theory does not have manifest Lorentz invariance.…
Recently, continuous-time dynamical systems have proved useful in providing conceptual and quantitative insights into gradient-based optimization, widely used in modern machine learning and statistics. An important question that arises in…
In this paper we explore the nonholonomic Lagrangian setting of mechanical systems in local coordinates on finite-dimensional configuration manifolds. We prove existence and uniqueness of solutions by reducing the basic equations of motion…
Classical mechanical systems with internal constraints will be examined using the extended symplectic formalism of Faddeev-Jackiw. We will derive the generalized brackets of the theory and the corresponding equations of motion. The…
In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the…
In this note we describe how some objects from generalized geometry appear in the qualitative analysis and numerical simulation of mechanical systems. In particular we discuss double vector bundles and Dirac structures. It turns out that…
In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can…