Related papers: Analytical Mechanics With Quasi-Velocities
We introduce a new dynamical system, at the interface between second-order dynamics with inertia and Newton's method. This system extends the class of inertial Newton-like dynamics by featuring a time-dependent parameter in front of the…
A natural geometric framework is proposed, based on ideas of W. M. Tulczyjew, for constructions of dynamics on general algebroids. One obtains formalisms similar to the Lagrangian and the Hamiltonian ones. In contrast with recently studied…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
Contraction analysis establishes exponential incremental convergence of a nonlinear system by solving a linear matrix inequality for a contraction metric, and has become a standard resource for solving problems in nonlinear control and…
Absolute space is eliminated from the body of mechanics by gauging translations and rotations in the Lagrangian of a classical system. The procedure implies the addition of compensating terms to the kinetic energy, in such a way that the…
The usual canonical Hamiltonian or Lagrangian formalism of classical mechanics applied to macroscopic systems describes energy conserving adiabatic motion. If irreversible diabatic processes are to be included, then the law of increasing…
A conventional derivation of motion equations in mechanics and field equations in field theory is based on the principle of least action with a proper Lagrangian. With a time-independent Lagrangian, a function of coordinates and velocities…
A simple general theorem is used as a tool that generates nonlocal constants of motion for Lagrangian systems. We review some cases where the constants that we find are useful in the study of the systems: the homogeneous potentials of…
It is proposed how to impose a general type of ''noncommutativity'' within classical mechanics from first principles. Formulation is performed in completely alternative way, i.e. without any resort to fuzzy and/or star product philosophy,…
Problems involving rolling without slipping or no sideways skidding, to name a few, introduce velocity-dependent constraints that can be efficiently treated by the method of Lagrange multipliers in the Lagrangian formulation of the…
We introduce a mathematical technique based on modifying a given Riemannian metric and we investigate its applicability to controlling and stabilizing constrained mechanical systems. In essence our result is based on the construction of a…
The quasipotential is a natural generalization of the concept of energy functions to non-equilibrium systems. In the analysis of rare events in stochastic dynamics, it plays a central role in characterizing the statistics of transition…
Systems subjected to holonomic constraints follow quite complicated dynamics that could not be described easily with Hamiltonian or Lagrangian dynamics. The influence of holonomic constraints in equations of motions is taken into account by…
The statistical mechanics of quantum-classical systems with holonomic constraints is formulated rigorously by unifying the classical Dirac bracket and the quantum-classical bracket in matrix form. The resulting Dirac quantum-classical…
The fundamentals of Statistical Mechanics require a fresh definition in the context of the developments in Classical Mechanics of integrable and chaotic systems. This is done with the introduction of Micro Partitions ; a union of disjoint…
Motivated by robotic trajectory optimization problems we consider the Augmented Lagrangian approach to constrained optimization. We first propose an alternative augmentation of the Lagrangian to handle the inequality case (not based on…
We present a method for imposing quasineutrality and, more generally, charge density conservation in the Vlasov-Poisson (VP) and Vlasov-Amp\`ere (VA) systems, which describe electrostatic plasma dynamics, by applying the Dirac theory of…
We analyze constrained quantum systems where the dynamics do not preserve the constraints. This is done in particular for the restriction of a quantum particle in Euclidean n-space to a curved submanifold, and we propose a method of…
We consider two strongly hyperbolic Hamiltonian formulations of general relativity and their numerical integration with a free and a partially constrained symplectic integrator. In those formulations we use hyperbolic drivers for the shift…
In this article, Euler-Lagrangian dynamics explain that the two particle interaction has non-conservative forces about the frame of the center of mass. This interpretation clarifies the underlying interaction and the system descriptions…