Related papers: Hamilton-Jacobi Theorems for Regular Controlled Ha…
The phase space of a Hamiltonian system is symplectic. However, the post-Newtonian Hamiltonian formulation of spinning compact binaries in existing publications does not have this property, when position, momentum and spin variables $[X, P,…
The Hamilton-Jacobi formalism for a geodetic brane-like universe described by the Regge-Teitelboim model is developed. We focus on the description of the complete set of Hamiltonians that ensure the integrability of the model in addition to…
The Hamilton-Jacobi formalism for fermionic systems is studied. We derive the HJ equations from the canonical transformation procedure, taking into account the second class constraints typical of these systems. It is shown that these…
The equivalence of the chain method and Hamilton-Jacobi formalism is demonstrated. The stabilization algorithm of Hamilton-Jacobi formalism is clariffied and two examples are presented in details.
This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is…
Classical field theory is considered as a theory of unparametrized surfaces embedded in a configuration space, which accommodates, in a symmetric way, spacetime positions and field values. Dynamics is defined via the (Hamiltonian)…
This paper presents a "historical" formalism for dynamical systems, in its Hamiltonian version (Lagrangian version was presented in a previous paper). It is universal, in the sense that it applies equally well to time dynamics and to field…
In this paper, we propose a geometric Hamilton-Jacobi theory for systems of implicit differential equations. In particular, we are interested in implicit Hamiltonian systems, described in terms of Lagrangian submanifolds of $TT^*Q$…
This article is concerned with analytic Hamiltonian dynamical systems in infinite dimension in a neighborhood of an elliptic fixed point. Given a quadratic Hamiltonian, we consider the set of its analytic higher order perturbations. We…
In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots (FJRs) in the port-Hamiltonian (pH) framework. The…
A geometric approach to integrability and reduction of dynamical system is developed from a modern perspective. The main ingredients in such analysis are the infinitesimal symmetries and the tensor fields that are invariant under the given…
In this paper, we discuss the reduction of symplectic Hamiltonian systems by scaling and standard symmetries which commute. We prove that such a reduction process produces a so-called Kirillov Hamiltonian system. Moreover, we show that if…
This is a continuation of the work initiated in a previous paper on so-called driven cofactor systems, which are partially decoupling second-order differential equations of a special kind. The main purpose in that paper was to obtain an…
In this paper, we are concerned with the classical solvability of a class of second-order Hamilton-Jacobi-Bellman equations (HJB equations) arising from stochastic optimal control problems with linear dynamics and uniformly convex cost…
Though ubiquitous as first-principles models for conservative phenomena, Hamiltonian systems present numerous challenges for model reduction even in relatively simple, linear cases. Here, we present a method for the projection-based model…
Hamiltonian Monte Carlo is typically based on the assumption of an underlying canonical symplectic structure. Numerical integrators designed for the canonical structure are incompatible with motion generated by non-canonical dynamics. These…
The Hamilton-Jacobi equation on metric spaces has been studied by several authors; following the approach of Gangbo and Swiech, we show that the final value problem for the Hamilton-Jacobi equation has a unique solution even if we add a…
We prove homogenization for a class of viscous Hamilton-Jacobi equations in the stationary and ergodic setting in one space dimension. Our assumptions include most notably the following: the Hamiltonian is of the form $G(p) + \beta…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
A geometric analysis of the Shake and Rattle methods for constrained Hamiltonian problems is carried out. The study reveals the underlying differential geometric foundation of the two methods, and the exact relation between them. In…