Related papers: Dirac Structures in Vakonomic Mechanics
In a previous paper (PeCa24), the notion of Dirac structure in finite dimension was extended to the convenient setting. In particular, we introduce the notion of \emph{partial Dirac structure on a convenient manifold} and look for which all…
An open issue in classical relativistic mechanics is the consistent treatment of the dynamics of classical $N$-body systems of mutually-interacting particles. This refers, in particular, to charged particles subject to EM interactions,…
We derive the Hamilton equations of motion for a constrained system in the form given by Dirac, by a limiting procedure, starting from the Lagrangean for an unconstrained system. We thereby ellucidate the role played by the primary…
The derivation of the equations of motion for nonholonomic systems remains a central issue in analytical mechanics, primarily due to the tension between the d'Alembert-Lagrange differential principle and integral variational approaches.…
We discuss the notion of basic cohomology for Dirac structures and, more generally, Lie algebroids. We then use this notion to characterize the obstruction to a variational formulation of Dirac dynamics.
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…
Optimal control problems for underactuated mechanical systems can be seen as a higher-order variational problem subject to higher-order constraints (that is, when the Lagrangian function and the constraints depend on higher-order…
Dirac structures and Morse families are used to obtain a geometric formalism that unifies most of the scenarios in mechanics (constrained calculus, nonholonomic systems, optimal control theory, higher-order mechanics, etc.), as the examples…
We present a new existence mechanism, based on symplectic topology, for orbits of Hamiltonian flows connecting a pair of disjoint subsets in the phase space. The method involves function theory on symplectic manifolds combined with rigidity…
The main fundamental principles characterizing the vacuum field structure are formulated and the modeling of the related vacuum medium and charged point particle dynamics by means of devised field theoretic tools are analyzed. The work is…
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a…
In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…
The aim of the present text is twofold: to provide a compendium of Lagrangian and Hamiltonian geometries and to introduce and investigate new analytical Mechanics: Finslerian, Lagrangian and Hamiltonian. The fundamental equations (or…
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete…
The dynamical motion of mechanical systems possesses underlying geometric structures, and preserving these structures in numerical integration improves the qualitative accuracy and reduces the long-time error of the simulation. For a single…
A new approach to relativistic mechanics is proposed, suitable to describe dynamics of different kinds of relativistic particles. Mathematically it is based on an application of the recent geometric theory of nonholonomic systems on fibred…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
A Dirac structure is a Lagrangian subbundle of a Courant algebroid, $L\subset\mathbb{E}$, which is involutive with respect to the Courant bracket. In particular, $L$ inherits the structure of a Lie algebroid. In this paper, we introduce the…
In this work, we investigate a Lagrangian model describing a particle constrained to move along non-degenerate conic sections, parameterized by the orbital eccentricity \( e \). In the non-relativistic regime, we apply the Dirac--Bergmann…
This paper develops a structure-preserving numerical integration scheme for a class of higher-order mechanical systems. The dynamics of these systems are governed by invariant variational principles defined on higher-order tangent bundles…