Related papers: Discrete dynamics in implicit form
For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…
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…
In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical…
In the late 80s - early 90s J. Moser and A. P. Veselov considered Lagrangian discrete systems on Lie groups with additional symmetry conditions imposed on Lagrangians. They observed that such systems are often integrable…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
In this paper, discrete analogues of Euler-Poincar\'{e} and Lie-Poisson reduction theory are developed for systems on finite dimensional Lie groups $G$ with Lagrangians $L:TG \to {\mathbb R}$ that are $G$-invariant. These discrete equations…
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
This letter investigates the Lie point symmetries and conserved quantities of the Lagrangian systems on time scales, which unify the Lie symmetries of the two cases for the continuous and the discrete Lagrangian systems. By defining the…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
Variational integrators for Lagrangian dynamical systems provide a systematic way to derive geometric numerical methods. These methods preserve a discrete multisymplectic form as well as momenta associated to symmetries of the Lagrangian…
This paper develops the notion of implicit Lagrangian systems on Lie algebroids and a Hamilton--Jacobi theory for this type of system. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We…
A gauge independent method of obtaining the reduced space of constrained dynamical systems is discussed in a purely lagrangian formalism. Implications of gauge fixing are also considered.
We describe the main ingredients needed to create, from the smooth lagrangian density, a variational principle for discrete motions of a discrete rod, with corresponding conserved Noether currents. We describe all geometrical objects in…
A categorical theory for the discretization of a large class of dynamical systems with variable coefficients is proposed. It is based on the existence of covariant functors between the Rota category of Galois differential algebras and…
This paper presents the continuous and discrete variational formulations of simple thermodynamical systems whose configuration space is a (finite dimensional) Lie group. We follow the variational approach to nonequilibrium thermodynamics…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
Discrete gradients (DG) or more exactly discrete gradient methods are time integration schemes that are custom-built to preserve first integrals or Lyapunov functions of a given ordinary differential equation (ODE). In conservative…