Related papers: Geometry of Routh reduction
We analyze the relation between the concept of auxiliary variables and the Inverse problem of the calculus of variations to construct a Lagrangian from a given set of equations of motion. The problem of the construction of a consistent…
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…
The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…
Geometric mechanics is a branch of mathematical physics that studies classical mechanics of particles and fields from the point of view of geometry. In a geometric language, symmetries can be expressed in a natural manner as vector fields…
Some aspects of the geometry and the dynamics of generalized Chaplygin systems are investigated. First, two different but complementary approaches to the construction of the reduced dynamics are reviewed: a symplectic approach and an…
This paper is devoted to the study of mechanical systems subjected to external forces in the framework of symplectic geometry. We obtain a Noether's theorem for Lagrangian systems with external forces, among other results regarding…
A discrete version of Lagrangian reduction is developed in the context of discrete time Lagrangian systems on $G\times G$, where $G$ is a Lie group. We consider the case when the Lagrange function is invariant with respect to the action of…
A reductive structure is associated here with Lagrangian canonically defined conserved quantities on gauge-natural bundles. Parametrized transformations defined by the gauge-natural lift of infinitesimal principal automorphisms induce a…
We review how an algebraic formulation for the dynamics of a physical system allows to describe a reduction procedure for both classical and quantum evolutions.
The reduction of dynamical systems has a rich history, with many important applications related to stability, control and verification. Reduction of nonlinear systems is typically performed in an exact manner - as is the case with…
In this article, we generalize the theory of discrete Lagrangian mechanics and variational integrators in two principal directions. First, we show that Lagrangian submanifolds of symplectic groupoids give rise to discrete dynamical systems,…
There is a well developed and useful theory of Hamiltonian reduction for semidirect products, which applies to examples such as the heavy top, compressible fluids and MHD, which are governed by Lie-Poisson type equations. In this paper we…
Three dimensional unsteady flow of fluids in the Lagrangian description is considered as an autonomous dynamical system in four dimensions. The condition for the existence of a symplectic structure on the extended space is the frozen field…
This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…
We present a simulation of a dripping faucet system. A new algorithm based on Lagrangian description is introduced. The shape of drop falling from a faucet obtained by the present algorithm agrees quite well with experimental observations.…
We examine the reduction process of a system of second-order ordinary differential equations which is invariant under a Lie group action. With the aid of connection theory, we explain why the associated vector field decomposes in three…
A natural geometric framework is proposed, based on ideas of W. M. Tulczyjew, for constructions of dynamics on general algebroids. One obtains formalisms similar to the Lagrangian and the Hamiltonian ones. In contrast with recently studied…
The present article deals with general mechanics in an unconventional manner. At first, Newtonian mechanics for a point particle has been described in vectorial picture, considering Cartesian, polar and tangent-normal formulations in a…
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard…
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…