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The Symplectic Pontryagin method was introduced in a previous paper. This work shows that this method is applicable under less restrictive assumptions. Existence of solutions to the Symplectic Pontryagin scheme are shown to exist without…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
By one of the most fundamental principles in physics, a dynamical system will exhibit those motions which extremise an action functional. This leads to the formation of the Euler-Lagrange equations, which serve as a model of how the system…
We consider optical systems where propagation of light can be described by a Dirac-like equation with $PT$-symmetric Hamiltonian. In order to construct exactly solvable configurations, we extend the confluent Crum-Darboux transformation for…
Nonholonomic mechanical systems have been attracting more interest in recent years because of their rich geometric properties and their applications in Engineering. In all generality, we discuss the reduction of a Hamilton-Jacobi theory for…
The Lagrange-d'Alembert equations with constraints belonging to $H^{1,\infty}$ have been considered. A concept of weak solutions to these equations has been built. Global existence theorem for Cauchy problem has been obtained.
Optimization problems with convex quadratic cost and polyhedral constraints are ubiquitous in signal processing, automatic control and decision-making. We consider here an enlarged problem class that allows to encode logical conditions and…
For For a given PDE system, or an exterior differential system possessing a Lie group of internal symmetries the orbit reduction procedure is introduced. It is proved that the solutions of the reduced exterior differential system are in…
In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization…
In this paper we study Chaplygin's Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton-Poincare-d'Alembert equations in arbitrary degrees of freedom. As special cases we extract…
The Lagrange--Poincar\'e equations for the mechanical system describing the motion of a scalar particle on a Riemannian manifold with a given free and isometric action of a compact Lie group is obtained. In an arising principle fibre…
A hybrid framework is developed that highlights and unifies the most important aspects of the Noether correspondence between symmetries and conserved integrals in Lagrangian and Hamiltonian mechanics. Several main results are shown: (1) a…
This work presents two novel approaches for the symplectic model reduction of high-dimensional Hamiltonian systems using data-driven quadratic manifolds. Classical symplectic model reduction approaches employ linear symplectic subspaces for…
This work presents the variational principles and the intrinsic versions of several equations in field theories, in particular, for the Classical Euler-Lagrange field equations, the implicit Euler-Lagrange field equations and the…
Anti-selfdual Lagrangians on a state space lift to path space provided one adds a suitable selfdual boundary Lagrangian. This process can be iterated by considering the path space as a new state space for the newly obtained anti-selfdual…
We present the first method to directly use a learned continuous Lagrangian to forecast the dynamics of systems governed by partial differential equations, exploiting the inherent conservative structure to achieve stable long-range…
Many methods for reducing and simplifying differential equations are known. They provide various generalizations of the original symmetry approach of Sophus Lie. Plenty of relations between them have been noticed and in this note a unifying…
A complete understanding of physical systems requires models that are accurate and obeys natural conservation laws. Recent trends in representation learning involve learning Lagrangian from data rather than the direct discovery of governing…
We are concerned with the efficient implementation of symplectic implicit Runge-Kutta (IRK) methods applied to systems of (non-necessarily Hamiltonian) ordinary differential equations by means of Newton-like iterations. We pay particular…