Related papers: Discrete second-order Euler-Poincar\'e equations. …

In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional deformation. We then adopt the Lie group variational integrator…

In this note, we develop a theory of Euler-Poincare reduction for discrete Lagrangian field theories. We introduce the concept of Euler-Poincare equations for discrete field theories, as well as a natural extension of the Moser-Veselov…

We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures…

Discrete variational methods show excellent performance in numerical simulations of mechanical systems. In this paper, we adapt discrete variational integrators for the case of mechanical systems with double-bracket dissipation. In…

The Euler--Poincar\'e equations, firstly introduced by Henri Poincar\'e in 1901, arise from the application of Lagrangian mechanics to systems on Lie groups that exhibit symmetries, particularly in the contexts of classical mechanics and…

Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…

In this work, we propose and study a new approach to formulate the optimal control problem of second-order differential equations, with a particular interest in those derived from force-controlled Lagrangian systems. The formulation results…

A notion of implicit difference equation on a Lie groupoid is introduced and an algorithm for extracting the integrable part (backward or/and forward) is formulated. As an application, we prove that discrete Lagrangian dynamics on a Lie…

In this paper, we study the Lagrangian functions for a class of second-order differential systems arising from physics. For such systems, we present necessary and sufficient conditions for the existence of Lagrangian functions. Based on the…

We continue the program, presented in previous Symposia, of discretizing physical models. In particular we calculate the integral Lorentz transformations with the help of discrete reflection groups, and use them for the covariance of…

We observe that the iterated tangent group of a Lie group may be realized as a double cross product of the 2nd order tangent group, with the Lie algebra of the base Lie group. Based on this observation, we derive the 2nd order…

We develop the theory of discrete time Lagrangian mechanics on Lie groups, originated in the work of Veselov and Moser, and the theory of Lagrangian reduction in the discrete time setting. The results thus obtained are applied to the…

Motivated by the problem of longitudinal data assimilation, e.g., in the registration of a sequence of images, we develop the higher-order framework for Lagrangian and Hamiltonian reduction by symmetry in geometric mechanics. In particular,…

We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…

We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…

This paper develops the theory of discrete Dirac reduction of discrete Lagrange-Dirac systems with an abelian symmetry group acting on the configuration space. We begin with the linear theory and, then, we extend it to the nonlinear setting…

The Lagrange problem is established in the discrete field theory subject to constraints with values in a Lie group. For the admissible sections that satisfy a certain regularity condition, we prove that the critical sections of such…

This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…

In general, the system of $2$nd-order partial differential equations made of the Euler-Lagrange equations of classical field theories are not compatible for singular Lagrangians. This is the so-called second-order problem. The first aim of…

We consider the calculation of Euler--Lagrange systems of ordinary difference equations, including the difference Noether's Theorem, in the light of the recently-developed calculus of difference invariants and discrete moving frames. We…