Related papers: Higher-order contact mechanics
We develop a new geometric framework suitable for dealing with Hamiltonian field theories with dissipation. To this end we define the notions of $k$-contact structure and $k$-contact Hamiltonian system. This is a generalization of both the…
Using Dirac's approach to constrained dynamics, the Hamiltonian formulation of regular higher order Lagrangians is developed. The conventional description of such systems due to Ostrogradsky is recovered. However, unlike the latter, the…
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…
In the recent years, with the incorporation of contact geometry, there has been a renewed interest in the study of dissipative or non-conservative systems in physics and other areas of applied mathematics. The equations arising when…
Singular theories, characterised by the presence of degeneracies in their Lagrangian or Hamiltonian descriptions, require the systematic implementation of constraints in order to obtain well-defined dynamics. While the symplectic framework…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
Many important theories in modern physics can be stated using differential geometry. Symplectic geometry is the natural framework to deal with autonomous Hamiltonian mechanics. This admits several generalizations for nonautonomous systems,…
In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we…
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 study vakonomic dynamics on contact systems with nonlinear constraints. In order to obtain the dynamics, we consider a space of admisible paths, which are the ones tangent to a given submanifold. Then, we find the critical…
We formulate and study a generalized virial theorem for contact Hamiltonian systems. Such systems describe mechanical systems in the presence of simple dissipative forces such as Rayleigh friction, or the vertical motion of a particle…
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 this paper we develop a geometric approach to higher order mechanics on graded bundles in both, the Lagrangian and Hamiltonian formalism, via the recently discovered weighted algebroids. We present the corresponding Tulczyjew triple for…
The geometric formulation of the Hamilton-Jacobi theory enables us to generalize it to systems of higher-order ordinary differential equations. In this work we introduce the unified Lagrangian-Hamiltonian formalism for the geometric…
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. In this paper we present a method to construct symplectic-momentum integrators for…
In this study, firstly, the k-th order extension of complex product manifold is consid- ered. Then the higher order vertical, complete lifts of geometric structures on product manifold to its extended spaces are given. Also higher order…
In this paper, we propose a discrete Hamilton--Jacobi theory for (discrete) Hamiltonian dynamics defined on a (discrete) contact manifold. To this end, we first provide a novel geometric Hamilton--Jacobi theory for continuous contact…
Stochastic contact Hamiltonian systems are a class of important mathematical models, which can describe the dissipative properties with odd dimensions in the stochastic environment. In this article, we investigate the numerical dynamics of…
In this paper we combine two main topics in mechanics and optimal control theory: contact Hamiltonian systems and Pontryagin Maximum Principle. As an important result, among others, we develop a contact Pontryagin Maximum Principle that…
We discuss a recently proposed variational principle for deriving the variational equations associated to any Lagrangian system. The principle gives simultaneously the Lagrange and the variational equations of the system. We define a new…