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Extremal principles can generally be divided into two rather distinct classes. There are, on the one hand side, formulations based on the Lagrangian or Hamiltonian mechanics, respectively, dealing with time dependent problems, but…
This paper discusses reduction by symmetries for autonomous and non-autonomous forced mechanical systems with inelastic collisions. In particular, we introduce the notion of generalized hybrid momentum map and hybrid constants of the motion…
This paper deals with the numerical integration of Hamiltonian systems in which a stiff anharmonic potential causes highly oscillatory solution behavior with solution-dependent frequencies. The impulse method, which uses micro- and…
We implement and investigate the numerical properties of a new family of integrators connecting both variants of the symplectic Euler schemes, and including an alternative to the classical symplectic mid-point scheme, with some additional…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…
The Hamiltonian formalism is extremely elegant and convenient to mechanics problems. However, its application to the classical field theories is a difficult task. In fact, you can set one to one correspondence between the Lagrangian and…
We show the well-posed variational principle in constraint systems. In a naive procedure of the variational principle with constraints, the proper number of boundary conditions does not match with that of physical degrees of freedom…
This paper concerns a first-order algorithmic technique for a class of optimal control problems defined on switched-mode hybrid systems. The salient feature of the algorithm is that it avoids the computation of Fr\'echet or G\^ateaux…
At the core of optimal control theory is the Pontryagin maximum principle - the celebrated first order necessary optimality condition - whose solutions are called extremals and which are obtained through a function called Hamiltonian, akin…
In this paper we propose a process of Lagrangian reduction and reconstruction for symmetric discrete-time mechanical systems acted on by external forces, where the symmetry group action on the configuration manifold turns it into a…
We study a class of weakly coupled Hamilton-Jacobi systems with a specific aim to perform a qualitative analysis in the spirit of weak KAM theory. Our main achievement is the definition of a family of related action functionals containing…
This contribution deals with energy-based in-domain control of systems governed by partial differential equations with spatial domain up to dimension two. We exploit a port-Hamiltonian system description based on an underlying jet-bundle…
For integrable systems in the sense of multidimensional consistency (MDC) we can consider the Lagrangian as a form, which is closed on solutions of the equations of motion. For 2-dimensional systems, described by partial difference…
The Helmholtz conditions are necessary and sufficient conditions for a system of second order differential equations to be variational, that is, equivalent to a system of Euler-Lagrange equations for a regular Lagrangian. On the other hand,…
Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory is applied to these systems and a hybrid version of Pontryagin's maximum principle is presented. This…
For the linearized setting of the dynamics of complex bodies we construct variational integrators and prove their convergence by making use of BV estimates on the rate fields. We allow for peculiar substructural inertia and internal…
This paper describes a fourth-order integration algorithm for the gravitational N-body problem based on discrete Lagrangian mechanics. When used with shared timesteps, the algorithm is momentum conserving and symplectic. We generalize the…
We consider generalized gradients in the general context of $G$-structures. They are natural first order differential operators acting on sections of vector bundles associated to irreducible $G$-representations. We study their geometric…
The Hamiltonian formulation for the mechanical systems with reparametrization-invariant Lagrangians, depending on the worldline external curvatures is given, which is based on the use of moving frame. A complete sets of constraints are…
We develop Cresson's non-differentiable embedding to quantum problems of the calculus of variations and optimal control with time delay. Main results show that the dynamics of non-differentiable Lagrangian and Hamiltonian systems with time…