Related papers: Dirac Structures in Vakonomic Mechanics
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…
We present a new variational principle for the gyrokinetic system, similar to the Maxwell-Vlasov action presented in Ref. 1. The variational principle is in the Eulerian frame and based on constrained variations of the phase space fluid…
In this study, Hamiltonian and Lagrangian theories, which are mathematical models of mechanical systems, are structured on the horizontal and the vertical distributions of tangent and cotangent bundles. In the end, the geometrical and…
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…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…
Systems of ordinary differential equations (or dynamical forms in Lagrangian mechanics), induced by embeddings of smooth fibered manifolds over one-dimensional basis, are considered in the class of variational equations. For a given…
The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of the Euler-Lagrange equations for some regular Lagrangian.…
This paper offers a geometric framework for modeling port-Hamiltonian systems on discrete manifolds. The simplicial Dirac structure, capturing the topological laws of the system, is defined in terms of primal and dual cochains related by…
Starting with the first-order singular Lagrangian, the canonical structures of the noncommutative quantum system on a submanifold embedded in the higher-dimensional Euclidean space are investigated with the projection operator method (POM)…
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 recent interest in structure preserving stochastic Lagrangian and Hamiltonian systems raises questions regarding how such models are to be understood and the principles through which they are to be derived. By considering a…
In this paper, we extend the port-Hamiltonian framework by introducing the concept of Stokes-Lagrange structure, which enables the implicit definition of a Hamiltonian over an $N$-dimensional domain and incorporates energy ports into the…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…
We show that the contact dynamics obtained from the Herglotz variational principle can be described as a constrained nonholonomic or vakonomic ordinary Lagrangian system depending on a dissipative variable with an adequate choice of one…
We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
The application of the Legendre transformation to a hyperregular Lagrangian system results in a Hamiltonian vector field generated by a Hamiltonian defined on the phase space of the mechanical system. The Legendre transformation in its…
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…