Related papers: Higher order Lagrange-Poincar\'e and Hamilton-Poin…
Reduction is a process that uses symmetry to lower the order of a Hamiltonian system. The new variables in the reduced picture are often not canonical: there are no clear variables representing positions and momenta, and the Poisson bracket…
We discuss an elementary derivation of variational symmetries and corresponding integrals of motion for the Lagrangian systems depending on acceleration. Providing several examples, we make the manuscript accessible to a wide range of…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
In this Thesis we develop the geometric formulations for higher-order autonomous and non-autonomous dynamical systems, and second-order field theories. In all cases, the physical information of the system is given in terms of a Lagrangian…
In the framework of finite order variational sequences a new class of Lagrangians arises, namely, \emph{special} Lagrangians. These Lagrangians are the horizontalization of forms on a jet space of lower order. We describe their properties…
Given a Hamiltonian system on a fiber bundle, there is a Poisson covariant formulation of the Hamilton equations. When a Lie group G acts freely, properly, preserving the fibers of the bundle and the Hamiltonian density is G-invariant, we…
We introduce a novel technique for constructing higher-order variational integrators for Hamiltonian systems of ODEs. In particular, we are concerned with generating globally smooth approximations to solutions of a Hamiltonian system. Our…
We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction…
We develop a general procedure for reduction along strong Dirac maps, which are a broad generalization of Poisson momentum maps. We recover a large number of familiar constructions in Poisson and quasi-Poisson geometry, and we introduce new…
We classify Lie-Poisson brackets that are formed from Lie algebra extensions. The problem is relevant because many physical systems owe their Hamiltonian structure to such brackets. A classification involves reducing all brackets to a set…
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…
Reasoning about the physical world requires models that are endowed with the right inductive biases to learn the underlying dynamics. Recent works improve generalization for predicting trajectories by learning the Hamiltonian or Lagrangian…
For a system of partial differential equations admitting point, contact, or higher symmetries, the framework of invariant reduction systematically computes how invariant geometric structures, such as conservation laws, presymplectic…
This paper develops the theory of affine Euler-Poincar\'e and affine Lie-Poisson reductions and applies these processes to various examples of complex fluids, including Yang-Mills and Hall magnetohydrodynamics for fluids and superfluids,…
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…
For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…
We develop a Poisson Hamiltonian formulation of Pontryagin dynamics for optimal control of mechanical systems on Lie groupoids. The reduced dynamics is formulated intrinsically on the dual Lie algebroid endowed with its canonical linear…
This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and…
An intrinsic description of the Hamilton-Cartan formalism for first-order Berezinian variational problems determined by a submersion of supermanifolds is given. This is achieved by studying the associated higher-order graded variational…
We discuss a version of Hamiltonian (2+1)-dimensional dynamics, in which one allows nonvanishing Poisson brackets also between the coordinates, and between the momenta. The resulting equations of motion are not any more derivable from a…