Related papers: A note on Hybrid Routh reduction for time-dependen…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
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…
In this paper, we consider a generalization of variational calculus which allows us to consider in the same framework different cases of mechanical systems, for instance, Lagrangian mechanics, Hamiltonian mechanics, systems subjected to…
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…
A new algorithm for time dependent Hamilton Jacobi equations on networks, based on semi Lagrangian scheme, is proposed. It is based on the definition of viscosity solution for this kind of problems recently given in. A thorough convergence…
We have studied quantum systems on finite-dimensional Hilbert spaces and found that all these systems are connected through local transformations. Actually, we have shown that these transformations give rise to a gauge group that connects…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
The dynamics by iteration of a function on a compact metric space, sometimes called a cascade, can be extended to the dynamics of a closed relation on such a space. Here we apply this relation dynamics to study semiflows (and their relation…
We consider the multi-dimensional generalisation of the problem of a sphere, with axi-symmetric mass distribution, that rolls without slipping or spinning over a plane. Using recent results from Garc\'ia-Naranjo (arXiv: 1805:06393) and…
In this paper, we design a theoretical framework allowing to apply model predictive control on hybrid systems. For this, we develop a theory of approximate dynamic programming by leveraging the concept of alternating simulation. We show how…
One approach to studying the dynamics of a singular Lagrangian system is to attempt to regularize it, that is, to find an equivalent and regular system. In the case of time-independent singular Lagrangians, an approach due to \textit{A.…
In this paper, following the ideas in Marsden et al.[18], we set up the regular reduction theory of a regular controlled Lagrangian (RCL) system with symmetry and momentum map, by using Legendre transformation and Euler-Lagrange vector…
This article considers Hamiltonian mechanical systems with potential functions admitting jump discontinuities. The focus is on accurate and efficient numerical approximations of their solutions, which will be defined via the laws of…
For symmetric classical field theories on principal bundles there are two methods of symmetry reduction: covariant and dynamic. Assume that the classical field theory is given by a symmetric covariant Lagrangian density defined on the first…
Classical Hamiltonian systems with balanced loss and gain are considered in this review. A generic Hamiltonian formulation for systems with space-dependent balanced loss and gain is discussed. It is shown that the loss-gain terms may be…
We develop a general form of the Ritz method for trial functions that do not satisfy the essential boundary conditions. The idea is to treat the latter as variational constraints and remove them using the Lagrange multipliers. In…
In this paper we study the relationship between the strict locally minimizing orbits for time dependent lagrangian systems and hyperbolicity properties of the corresponding lagrangian flow.
We generalize to higher dimension results of Birkhoff and Mather on the existence of orbits wandering in regions of instability of twist maps. This generalization is strongly inspired by the one already proposed by Mather. However, its…
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…
While many dynamical systems of mechanical origin, in particular billiards, are strongly chaotic -- enjoy exponential mixing, the rates of mixing in many other models are slow (algebraic, or polynomial). The dynamics in the latter are…