Related papers: Variational Collision Integrators for Nonholonomic…
We show that the contact dynamics obtained from the Herglotz variational principle can be described as a constrained nonholonomic or vakonomic ordinary Lagrangian system depending on a dissipative variable with an adequate choice of one…
This paper presents a method to construct variational integrators for time-dependent lagrangian systems. The resulting algorithms are symplectic, preserve the momentum map associated with a Lie group of symmetries and also describe the…
The variational principle of the Onsager-Machlup integral is used to describe the stochastic dynamics of a micromachine, such as an enzyme, characterized by odd elasticity. The obtained most probable path is found to become non-reciprocal…
We present the symplectic algorithm in the Lagrangian formalism for the Hamiltonian systems by virtue of the noncommutative differential calculus with respect to the discrete time and the Euler--Lagrange cohomological concepts. We also show…
In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the…
The purpose of this paper is to show that, at least for Lagrangians of mechanical type, nonholonomic Euler-Lagrange equations for a nonholonomic linear constraint D may be viewed as non-constrained Euler-Lagrange equations but on a new…
The mutual compatibility of the dynamical equations and constraints describing a massive particle of arbitrary spin, though essential for consistency, is generically lost in the presence of interactions. The conventional Lagrangian approach…
We introduce energy-preserving integrators for nonholonomic mechanical systems. We will see that the nonholonomic dynamics is completely determined by a triple $({\mathcal D}^*, \Pi, \mathcal{H})$, where ${\mathcal D}^*$ is the dual of the…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
Variational time integrators are derived in the context of discrete mechanical systems. In this area, the governing equations for the motion of the mechanical system are built following two steps: (a) Postulating a discrete action; (b)…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
The interplay between off-shell and on-shell unfolded systems is analysed. The formulation of invariant constraints that put an off-shell system on shell is developed by adding new variables and derivation in the target space, that extends…
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
Optimal control problems for underactuated mechanical systems can be seen as a higher-order variational problem subject to higher-order constraints (that is, when the Lagrangian function and the constraints depend on higher-order…
We analyze the relation of the notion of pluri-Lagrangian systems, which recently emerged in the theory of integrable systems, to the classical notion of variational symmetry, due to E. Noether.
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 consider the question of existence of Hamiltonians for autonomous non-holonomic mechanical systems in this paper. The approach is elementary in the sense that the existence of a Hamiltonian for a given non-holonomic system is considered…
The numerical analysis of variational integrators relies on variational error analysis, which relates the order of accuracy of a variational integrator with the order of approximation of the exact discrete Lagrangian by a computable…
We study the difference discrete variational principle in the framework of multi-parameter differential approach by regarding the forward difference as an entire geometric object in view of noncomutative differential geometry. By virtue of…
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…