Related papers: Variational integrators for interconnected Lagrang…
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…
In this paper we show that a variational reduction procedure can be defined for Lagrangian systems subject to scaling symmetries (i.e. Lagrangian systems defined by a homogenous Lagrangian function), in such a way that the trajectories of…
We analyze the canonical treatment of classical constrained mechanical systems formulated with a discrete time. We prove that under very general conditions, it is possible to introduce nonsingular canonical transformations that preserve the…
In this work we introduce a category $LDP_d$ of discrete-time dynamical systems, that we call discrete Lagrange--D'Alembert--Poincar\'e systems, and study some of its elementary properties. Examples of objects of $LDP_d$ are nonholonomic…
This paper presents a continuous and discrete Lagrangian theory for stochastic Hamiltonian systems on manifolds. The main result is to derive stochastic governing equations for such systems from a critical point of a stochastic action.…
We study in this paper the continuous and discrete Euler-Lagrange equations arising from a quadratic lagrangian. Those equations may be thought as numerical schemes and may be solved through a matrix based framework. When the lagrangian is…
Discrete gradient methods are a powerful tool for the time discretization of dynamical systems, since they are structure-preserving regardless of the form of the total energy. In this work, we discuss the application of discrete gradient…
A variational integrator for ideal magnetohydrodynamics is derived by applying a discrete action principle to a formal Lagrangian. Discrete exterior calculus is used for the discretisation of the field variables in order to preserve their…
The Dirac oscillator coupled to an external two-component field can retain its solvability, if couplings are appropriately chosen. This provides a new class of integrable systems. A simplified way of solution is given, by recasting the…
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic…
Hybrid continuous-discrete models naturally represent many real-world applications in robotics, finance, and environmental engineering. Inference with large-scale models is challenging because relational structures deteriorate rapidly…
We present examples of Lax-integrable multi-dimensional systems of partial differential equations with higher local symmetries. We also consider Lagrangian deformations of these equations and construct variational bivectors on them.
In this paper we introduce multiplicative Dirac structures on Lie groupoids, providing a unified framework to study both multiplicative Poisson bivectors (i.e., Poisson group(oid)s) and multiplicative closed 2-forms (e.g., symplectic…
Interconnected networks describe the dynamics of important systems in a wide range such as biological systems and electrical power grids. Some important features of these systems were successfully studied and understood through simplified…
A pluri-Lagrangian (or Lagrangian multiform) structure is an attribute of integrability that has mainly been studied in the context of multidimensionally consistent lattice equations. It unifies multidimensional consistency with the…
In this paper we make an overview of results relating the recent "discoveries" in differential geometry, such as higher structures and differential graded manifolds with some natural problems coming from mechanics. We explain that a lot of…
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…
We discuss integrable discretizations of 3-dimensional cyclic systems, that is, orthogonal coordinate systems with one family of circular coordinate lines. In particular, the underlying circle congruences are investigated in detail, and…
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
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…