Related papers: Dirac Structures in Vakonomic Mechanics
In this paper we extend the previously introduced class of boundary port-Hamiltonian systems to boundary control systems where the variational derivative of the Hamiltonian functional is replaced by a pair of reciprocal differential…
We have recently presented an extension of the standard variational calculus to include the presence of deformed derivatives in the Lagrangian of a system of particles and in the Lagrangian density of field-theoretic models. Classical…
We develop a method for systematically constructing Lagrangian functions for dissipative mechanical, electrical and, mechatronic systems. We derive the equations of motion for some typical mechatronic systems using deterministic principles…
Soon after the Yang-Mills work, the gauge invariance became one of the basic principles in the elementary particles theory. The gauge invariance idea is that Lagrangian has to be invariant not only with respect to the coordinates…
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…
In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a…
We propose a variational formulation for the nonequilibrium thermodynamics of discrete open systems, i.e., discrete systems which can exchange mass and heat with the exterior. Our approach is based on a general variational formulation for…
In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the…
We consider the question of existence of Hamiltonians for autonomous non-holonomic mechanical systems in this paper. The approach is elementary in the sense that the existence of a Hamiltonian for a given non-holonomic system is considered…
Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
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…
In this paper we explore the nonholonomic Lagrangian setting of mechanical systems in local coordinates on finite-dimensional configuration manifolds. We prove existence and uniqueness of solutions by reducing the basic equations of motion…
Interconnected systems are an important class of mathematical models, as they allow for the construction of complex, hierarchical, multiphysics, and multiscale models by the interconnection of simpler subsystems. Lagrange--Dirac mechanical…
A description of Lagrangian and Hamiltonian formalisms naturally arisen from the invariance structure of given nonlinear dynamical systems on the infinite--dimensional functional manifold is presented. The basic ideas used to formulate the…
The expansion of a classical Hamilton formalism consisting in adaptation of it to describe the nonequilibrium systems is offered. Expansion is obtained by construction of formalism on the basis of the dynamics equation of the equilibrium…
We introduce a Hamiltonian framework for nonlocal Lagrangian systems without relying on infinite-derivative expansions. Starting from a (trajectory-based) variational principle and a generalized Noether theorem, we define the canonical…
The aim of this paper is to study the relationship between Hamiltonian dynamics and constrained variational calculus. We describe both using the notion of Lagrangian submanifolds of convenient symplectic manifolds and using the so-called…
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…
This paper investigates the dynamics of nonholonomic mechanical systems, focusing on fundamental variational assumptions and the role of the transpositional rule. We analyze how the Cetaev condition and the first variation of constraints…