Related papers: Implicit Lagrange-Routh Equations and Dirac Reduct…

In this paper we consider reduction of the stochastic Hamilton-Pontryagin principle formulated on the Pontryagin bundle of a manifold $Q$. We prove that a stochastic action invariant under the free and proper action of a Lie group $G$ drops…

This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is…

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…

We present a unified approach to constrained implicit Lagrangian and Hamiltonian systems based on the introduced concept of Dirac algebroid. The latter is a certain almost Dirac structure associated with the Courant algebroid on the dual…

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…

Using well known Lagrangean techniques for uncovering the gauge symmetries of a Lagrangean, we derive the transformation laws for the phase space variables corresponding to local symmetries of the Hamilton equations of motion. These…

The possibility of the global Lagrangian reduction of a mechanical system with symmetry is shown to be connected with the characteristic class of a principal fiber bundle of the configuration space over the factor manifold. It is proved…

This paper develops a generalized formulation of Lagrangian mechanics on fibered manifolds, together with a reduction theory for symmetries corresponding to Lie groupoid actions. As special cases, this theory includes not only Lagrangian…

We make use of a symmetry reduction technique called Routh reduction to show that the solutions of the Euler-Lagrange equations of a strongly convex autonomous Lagrangian which lie on a specific energy level can be thought of as geodesics…

After recalling standard nonlinear port-Hamiltonian systems and their algebraic constraint equations, called here Dirac algebraic constraints, an extended class of port-Hamiltonian systems is introduced. This is based on replacing the…

We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…

In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show…

This work proposes a model-reduction methodology that preserves Lagrangian structure (equivalently Hamiltonian structure) and achieves computational efficiency in the presence of high-order nonlinearities and arbitrary parameter dependence.…

In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and…

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…

In this paper, we introduce the notion of port-Lagrangian systems in nonequilibrium thermodynamics, which is constructed by generalizing the notion of port-Lagrangian systems for nonholonomic mechanics proposed in Yoshimura and Marsden…

We extend Hamilton-Jacobi theory to Lagrange-Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer…

A gauge independent method of obtaining the reduced space of constrained dynamical systems is discussed in a purely lagrangian formalism. Implications of gauge fixing are also considered.

Within the framework of Lagrangian mechanics, the conservativeness of the hydrostatic forces acting on a floating rigid body is proved. The representation of the associated hydrostatic potential is explicitly worked out. The invariance of…

The purpose of this paper is to define the concept of multi-Dirac structures and to describe their role in the description of classical field theories. We begin by outlining a variational principle for field theories, referred to as the…