Related papers: Contracting Forced Lagrangian and Contact Lagrangi…
In this paper we apply the method of Lagrangian descriptors to explore the geometrical structures in phase space that govern the dynamics of dissipative systems. We demonstrate through many classical examples taken from the nonlinear…
Consider a periodically forced nonlinear system which can be presented as a collection of smaller subsystems with pairwise interactions between them. Each subsystem is assumed to be a massive point moving with friction on a compact surface,…
Lagrangian systems with nonholonomic constraints may be considered as singular differential equations defined by some constraints and some multipliers. The geometry, solutions, symmetries and constants of motion of such equations are…
This paper deals with conservation laws for mechanical systems with nonholonomic constraints. It uses a Lagrangian formulation of nonholonomic systems and a Cartan form approach. We present what we believe to be the most general relations…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
We present a direct approach to the construction of Lagrangians for a large class of one-dimensional dynamical systems with a simple dependence (monomial or polynomial) on the velocity. We rederive and generalize some recent results and…
The purpose of this paper is to perform an error analysis of the variational integrators of mechanical systems subject to external forcing. Essentially, we prove that when a discretization of contact order $r$ of the Lagrangian and force…
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 is devoted to the study of mechanical systems subjected to external forces in the framework of symplectic geometry. We obtain a Noether's theorem for Lagrangian systems with external forces, among other results regarding…
We consider the phenomenon of forced symmetry breaking in a symmetric Hamiltonian system on a symplectic manifold. In particular we study the persistence of an initial relative equilibrium subjected to this forced symmetry breaking. We see…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
For a Lagrangian system with nonholonomic constraints, we construct extensions of the equations of motion to sets of second-order ordinary differential equations. In the case of a purely kinetic Lagrangian, we investigate the conditions…
The Helmholtz conditions are necessary and sufficient conditions for a system of second order differential equations to be variational, that is, equivalent to a system of Euler-Lagrange equations for a regular Lagrangian. On the other hand,…
Hamiltonian systems with functionally dependent constraints (irregular systems), for which the standard Dirac procedure is not directly applicable, are discussed. They are classified according to their behavior in the vicinity of the…
This article is devoted to a description of the dynamics of the phase flow of monotone contact Hamiltonian systems. Particular attention is paid to locating the maximal attractor (or repeller), which could be seen as the union of compact…
We study a family of nonholonomic mechanical systems. These systems consist of harmonic oscillators coupled through nonholonomic constraints. In particular, the family includes the so called contact oscillator, which has been used as a test…
The flow of contracting systems contracts 1-dimensional polygons (i.e. lines) at an exponential rate. One reason for the usefulness of contracting systems is that many interconnections of contracting sub-systems yield an overall contracting…
Nonlinear contact dynamics are widely regarded as intrinsically nonlinear systems whose behaviour depends strongly on geometry and impact conditions. Here we show that any one-dimensional conservative contact system satisfying monotone…
We present a complete theory of higher-order autonomous contact mechanics, which allows us to describe higher-order dynamical systems with dissipation. The essential tools for the theory are the extended higher-order tangent bundles, ${\rm…
Within the frames of the analytical mechanics the method of the description of dynamics of nonequilibrium systems of potentially interacting elements is develops. The method is based on an opportunity of representation of nonequilibrium…