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We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…
We consider a geometric framework for analytical mechanics with external forces. Four versions of this framework are considered. A variational principle with boundary terms and external forces.The second and the third versions are the…
Invariant Lagrangians yield invariant Euler-Lagrange equations, and it was discussed in the literature how to compute those using various local methods. The focus of this paper is on global algebraic differential invariants. In this case…
The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order…
The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of the Euler-Lagrange equations for some regular Lagrangian.…
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are…
A variant of the usual Lagrangian scheme is developed which describes both the equations of motion and the variational equations of a system. The required (prolonged) Lagrangian is defined in an extended configuration space comprising both…
We study resonances of nonlinear systems of differential equations, including but not limited to the equations of motion of a particle moving in a potential. We use the calculus of variations to determine the minimal additive forcing…
Euler's equations for a two-dimensional system can be written in Hamiltonian form, where the Poisson bracket is the Lie-Poisson bracket associated to the Lie algebra of divergence free vector fields. We show how to derive the Poisson…
We single out a class of Lagrangians on a group manifold, for which one can introduce non-canonical coordinates in the phase space, which simplify the construction of the Poisson structure without explicitly calculating the Dirac bracket.…
Integration by parts plays a crucial role in mathematical analysis, e.g., during the proof of necessary optimality conditions in the calculus of variations and optimal control. Motivated by this fact, we construct a new, right-weighted…
In this note, we develop a theory of Euler-Poincare reduction for discrete Lagrangian field theories. We introduce the concept of Euler-Poincare equations for discrete field theories, as well as a natural extension of the Moser-Veselov…
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…
Variational integrators applied to degenerate Lagrangians that are linear in the velocities are two-step methods. The system of modified equations for a two-step method consists of the principal modified equation and one additional equation…
In this paper the structures of the generalised Euler-Lagrange equations and their associated conserved quantities are derived for one-dimensional Herglotz variational problems of order $n$. Their derivations use the framework of moving…
In this paper we propose a process of Lagrangian reduction and reconstruction for symmetric discrete-time mechanical systems acted on by external forces, where the symmetry group action on the configuration manifold turns it into a…
Symmetries in the Lagrangian formalism of arbitrary order are analysed with the help of the so-called Anderson-Duchamp-Krupka equations. For the case of second order equations and a scalar field we establish a polynomial structure in the…
In this paper we construct higher-order variational integrators for a class of degenerate systems described by Lagrangians that are linear in velocities. We analyze the geometry underlying such systems and develop the appropriate theory for…
This work contains an exposition of foundations of the variational calculus in fibered manifolds. The emphasis is laid on the geometric aspects of the theory. Especially functionals defined by real functions (Lagrange functions) or…
It is well-known that if a symplectic integrator is applied to a Hamiltonian system, then the modified equation, whose solutions interpolate the numerical solutions, is again Hamiltonian. We investigate this property from the variational…