Related papers: Lagrangian Constraints and Differential Thomas Dec…
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in automatic differentiation to develop a general-purpose…
A complete analysis of the consequences of introducing a set of holonomic gauge fixing constraints (to fix the dynamics) into a singular Lagrangian is performed. It is shown in general that the dynamical system originated from the reduced…
In this paper, we consider the linear programming (LP) formulation for deep reinforcement learning. The number of the constraints depends on the size of state and action spaces, which makes the problem intractable in large or continuous…
In this paper, we compute universal estimates of eigenvalues for a class of coupled systems of elliptic differential equations in divergence form on a bounded domain in Euclidean space, which includes the well-known Lam\'e and the Laplacian…
We deduce a procedure to apply balanced truncation to parameter-dependent differential-algebraic systems. For that we solve multiple projected Lyapunov equations for different parameter values to compute the Gramians that are required for…
In this paper, a new triangular decomposition algorithm is proposed for ordinary differential polynomial systems, which has triple exponential computational complexity. The key idea is to eliminate one algebraic variable from a set of…
In this paper we generalize the method of Lagrangian descriptors to two dimensional, area preserving, autonomous and nonautonomous discrete time dynamical systems. We consider four generic model problems--a hyperbolic saddle point for a…
We perform a Hamiltonian analysis of a large class of scalar-tensor Lagrangians which depend quadratically on the second derivatives of a scalar field. By resorting to a convenient choice of dynamical variables, we show that the Hamiltonian…
We revisit the problem of building the Lagrangian of a large class of metric theories that respect spatial covariance, which propagate at most two degrees of freedom and in particular no scalar mode. The Lagrangians are polynomials built of…
Lagrangian Descriptors (LDs) are scalar quantities able to reveal separatrices, manifolds of hyperbolic saddles, and chaotic seas of dynamical systems. A popular version of the LDs consists in computing the arc-length of trajectories over a…
Deterministic recursive algorithms for the computation of matrix triangular decompositions with permutations like LU and Bruhat decomposition are presented for the case of commutative domains. This decomposition can be considered as a…
We consider a classical field theory whose equations of motion follow from the least action principle, but the class of admissible trajectories is restricted by differential equations. The key element of the proposed construction is the…
In this paper we propose a new inexact dual decomposition algorithm for solving separable convex optimization problems. This algorithm is a combination of three techniques: dual Lagrangian decomposition, smoothing and excessive gap. The…
A new Lagrangian formulation with complex currents is developed and yields a direct and simple method for modeling three-phase permanent-magnet and induction machines. The Lagrangian is the sum a mechanical one and of a magnetic one. This…
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 present a new formulation of self-dual nonlinear electrodynamics in which interactions are determined by an auxiliary-field potential, with causality ensuring a unique solution to the auxiliary-field equation. The long-standing problem…
We discuss a recently proposed variational principle for deriving the variational equations associated to any Lagrangian system. The principle gives simultaneously the Lagrange and the variational equations of the system. We define a new…
Lagrangian modelling can be used to derive mathematical models for complex power electronic converters. This approach uses scalar quantities (kinetic and potential energy) to derive models, which is simpler than using (vector-based) force…
There is a review of the main mathematical properties of system described by singular Lagrangians and requiring Dirac-Bergmann theory of constraints at the Hamiltonian level. The following aspects are discussed: i) the connection of the…
Starting with the first-order singular Lagrangian, the problem of the quantization of a dynamical system constrained to a submanifold embedded in the higher-dimensional Euclidean space is investigated within the framework of operatorial…