Related papers: The Herglotz principle and vakonomic dynamics
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
We examine "dynamical similarities" in the Lagrangian framework. These are symmetries of an intrinsically determined physical system under which observables remain unaffected, but the extraneous information is changed. We establish three…
In this paper, we investigate the reduction process of a contact Lagrangian system whose Lagrangian is invariant under a group of symmetries. We give explicit coordinate expressions of the resulting reduced differential equations, the…
We consider a mechanical system which is controlled by means of moving constraints. Namely, we assume that some of the coordinates can be directly assigned as functions of time by means of frictionless constraints. This leads to a system of…
The paper proposes an approach for the efficient model order reduction of dynamic contact problems in linear elasticity. Instead of the augmented Lagrangian method that is widely used for mechanical contact problems, we prefer here the…
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation with Vershik-Gershkovich one in the case of linear…
Skew critical problems occur in continuous and discrete nonholonomic Lagrangian systems. They are analogues of constrained optimization problems, where the objective is differentiated in directions given by an apriori distribution, instead…
The optimal control of problems that are constrained by partial differential equations with uncertainties and with uncertain controls is addressed. The Lagrangian that defines the problem is postulated in terms of stochastic functions, with…
In this paper, we study representation formulas for finite-horizon optimal control problems with or without state constraints, unifying two different viewpoints: the Lagrangian and dynamic programming (DP) frameworks. In a recent work [1],…
In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contracting systems in a general Riemannian manifold. Then, we…
We consider systems characterized by the presence of a rapidly oscillating force. A general method is presented for the construction of the effective action governing the large-scale nonlinear dynamics of such systems order by order in…
We present a new existence mechanism, based on symplectic topology, for orbits of Hamiltonian flows connecting a pair of disjoint subsets in the phase space. The method involves function theory on symplectic manifolds combined with rigidity…
We investigate the optimal transport problem between probability measures when the underlying cost function is understood to satisfy a least action principle, also known as a Lagrangian cost. These generalizations are useful when connecting…
An interesting family of geometric integrators for Lagrangian systems can be defined using discretizations of the Hamilton's principle of critical action. This family of geometric integrators is called variational integrators. In this…
A new relation among a class of optimal control systems and Lagrangian systems with symmetry is discussed. It will be shown that a family of solutions of optimal control systems whose control equation are obtained by means of a group action…
In this Thesis we develop the geometric formulations for higher-order autonomous and non-autonomous dynamical systems, and second-order field theories. In all cases, the physical information of the system is given in terms of a Lagrangian…
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…
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…
This paper considers linear-quadratic control of a non-linear dynamical system subject to arbitrary cost. I show that for this class of stochastic control problems the non-linear Hamilton-Jacobi-Bellman equation can be transformed into a…
A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the…