Related papers: Analytical Mechanics With Quasi-Velocities
This paper investigates a class of Lagrangian control systems with $n$ degrees-of-freedom (DOF) and n-1 actuators, assuming that $n-1$ virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds.…
We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…
The systematization of the purely Lagrangean approach to constrained systems in the form of an algorithm involves the iterative construction of a generalized Hessian matrix W taking a rectangular form. This Hessian will exhibit as many left…
In this paper we have obtained some dynamics equations, in the presence of nonlinear nonholonomic constraints and according to a lagrangian and some Chetaev-like conditions. Using some natural regular conditions, a simple form of these…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…
Both orbital and rotational dynamics employ the method of variation of parameters. We express, in a non-perturbed setting, the coordinates (Cartesian, in the orbital case, or Eulerian in the rotation case) via the time and six adjustable…
The Lagrangian formulation of classical field theories and in particular general relativity leads to a coordinate-free, fully covariant analysis of these constrained systems. This paper applies multisymplectic techniques to obtain the…
Building towards a more covariant approach to canonical classical and quantum gravity we outline an approach to constrained dynamics that de-emphasizes the role of the Hamiltonian phase space and highlights the role of the Lagrangian phase…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…
The semi-Lagrangian methods with the improved number of one-dimensional advections are proposed for a plasma hybrid model with kinetic ions and mass-less electrons. Two subsystems with mass, momentum, and energy conservation are obtained by…
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 present work revisits the reduction of the nonlinear dynamics of an electromechanical system through a quasi-steady state hypothesis, discussing the fundamental aspects of this type of approach and clarifying some confusing points found…
Previous work in the literature has studied the Hamiltonian structure of an R-squared model of gravity with torsion in a closed Friedmann-Robertson-Walker universe. Within the framework of Dirac's theory, torsion is found to lead to a…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
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…
We consider macroscopic systems in weak contact with boundary reservoirs and under the action of external fields. We present an explicit formula for the Hamiltonian of such systems, from which we deduce the equation of motions, the action…
A new framework for deriving equations of motion for constrained quantum systems is introduced, and a procedure for its implementation is outlined. In special cases the framework reduces to a quantum analogue of the Dirac theory of…
This study presents a fractional-order continuum mechanics approach that allows combining selected characteristics of nonlocal elasticity, typical of classical integral and gradient formulations, under a single frame-invariant framework.…
In this work, we propose and study a new approach to formulate the optimal control problem of second-order differential equations, with a particular interest in those derived from force-controlled Lagrangian systems. The formulation results…