Related papers: Morse families and Dirac systems
We provide a generalization of the notion of Dirac system by using Morse families to intrinsically embrace the dynamics associated with different physical systems such as constrained variational calculus, optimal control, Lagrangian…
We geometrically describe optimal control problems in terms of Morse families in the Hamiltonian framework. These geometric structures allow us to recover the classical first order necessary conditions for optimality and the starting point…
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…
This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and…
The reduction of nonholonomic systems is formulated in terms of Dirac reduction. An optimal reduction method for a class of nonholonomic systems is formulated. Several examples are studied in detail.
Many mechanical systems are large and complex, despite being composed of simple subsystems. In order to understand such large systems it is natural to tear the system into these subsystems. Conversely we must understand how to invert this…
In these notes, we present an alternative version of discrete Dirac mechanics using Dirac structures. We first establish a notion of 'continuous Dirac system' and then propose a definition of discrete Dirac system, proving that it is…
The dynamical motion of mechanical systems possesses underlying geometric structures, and preserving these structures in numerical integration improves the qualitative accuracy and reduces the long-time error of the simulation. For a single…
Dirac structures are geometric objects that generalize both Poisson structures and presymplectic structures on manifolds. They naturally appear in the formulation of constrained mechanical systems. In this paper, we show that the evolution…
Dirac structures are geometric objects that generalize Poisson structures and presymplectic structures on manifolds. They naturally appear in the formulation of constrained mechanical systems and play an essential role in structuring a…
The concept of a Dirac algebroid, which is a linear almost Dirac structure on a vector bundle, was designed to generate phase equations for mechanical systems with linear nonholonomic constraints. We apply it to systems with magnetic-like…
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,…
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…
In this note we describe how some objects from generalized geometry appear in the qualitative analysis and numerical simulation of mechanical systems. In particular we discuss double vector bundles and Dirac structures. It turns out that…
We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures…
We study the discretization of (almost-)Dirac structures using the notion of retraction and discretization maps on manifolds. Additionally, we apply the proposed discretization techniques to obtain numerical integrators for port-Hamiltonian…
This work is devoted to giving a geometric framework for describing higher-order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems,…
This article presents an overview of the theory of integrable systems with symmetries, focusing on toric systems, semitoric systems, and their classifications via decorated polygons. We discuss certain one-parameter families of integrable…
A new class of integrable maps, obtained as lattice versions of polynomial dynamical systems is introduced. These systems are obtained by means of a discretization procedure that preserves several analytic and algebraic properties of a…
We classify certain integrable (both classical and quantum) generalisations of Dirac magnetic monopole on topological sphere $S^2$ with constant magnetic field, completing the previous local results by Ferapontov, Sayles and Veselov. We…