Related papers: Stochastic Implicit Lagrange-Poincar\'e Reduction

A discrete version of Lagrangian reduction is developed in the context of discrete time Lagrangian systems on $G\times G$, where $G$ is a Lie group. We consider the case when the Lagrange function is invariant with respect to the action of…

Given a Hamiltonian system on a fiber bundle, there is a Poisson covariant formulation of the Hamilton equations. When a Lie group G acts freely, properly, preserving the fibers of the bundle and the Hamiltonian density is G-invariant, we…

In this paper we investigate a variational discretization for the class of mechanical systems in presence of symmetries described by the action of a Lie group which reduces the phase space to a (non-trivial) principal bundle. By introducing…

We develop a reduction theory for $G$-invariant Lagrangian field theories defined on the higher-order jet bundle of a principal $G$-bundle, thus obtaining the higher-order Euler-Poincar\'e field equations. To that end, we transfer the…

In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can…

The $G$-strand equations for a map $\mathbb{R}\times \mathbb{R}$ into a Lie group $G$ are associated to a $G$-invariant Lagrangian. The Lie group manifold is also the configuration space for the Lagrangian. The $G$-strand itself is the map…

The recent interest in structure preserving stochastic Lagrangian and Hamiltonian systems raises questions regarding how such models are to be understood and the principles through which they are to be derived. By considering a…

We consider Lagrangians in Hamilton's principle defined on the tangent space $TG$ of a Lie group $G$. Invariance of such a Lagrangian under the action of $G$ leads to the symmetry-reduced Euler-Lagrange equations called the Euler-Poincar\'e…

We develop a Poisson Hamiltonian formulation of Pontryagin dynamics for optimal control of mechanical systems on Lie groupoids. The reduced dynamics is formulated intrinsically on the dual Lie algebroid endowed with its canonical linear…

For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…

The Lagrange--Poincar\'e equations for the mechanical system describing the motion of a scalar particle on a Riemannian manifold with a given free and isometric action of a compact Lie group is obtained. In an arising principle fibre…

We prove a reduction theorem for the tangent bundle of a Poisson manifold $(M, \pi)$ endowed with a pre-Hamiltonian action of a Poisson Lie group $(G, \pi_G)$. In the special case of a Hamiltonian action of a Lie group, we are able to…

This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…

We deal with regular Lagrangian constrained systems which are invariant under the action of a symmetry group. Fixing a connection on the higher-order principal bundle where the Lagrangian and the (independent) constraints are defined, the…

There is a well developed and useful theory of Hamiltonian reduction for semidirect products, which applies to examples such as the heavy top, compressible fluids and MHD, which are governed by Lie-Poisson type equations. In this paper we…

In the Hamiltonian formalism, and in the presence of a symmetry Lie group, a variational reduction procedure has already been developed for Hamiltonian systems without constraints. In this paper we present a procedure of the same kind, but…

We study the Euler-Lagrange equations for a parameter dependent $G$-invariant Lagrangian on a homogeneous $G$-space. We consider the pullback of the parameter dependent Lagrangian to the Lie group $G$, emphasizing the special invariance…

This note is a continuation of our earlier articles arXiv:1612.08897 and arXiv:1709.09030, where using the dependent coordinates the local Lagrange-Poincar\'e equations were obtained for a mechanical system with symmetry describing the…

This paper presents symmetry reduction for material stochastic Lagrangian systems with advected quantities whose configuration space is a Lie group. Such variational principles yield deterministic as well as stochastic constrained…

Given a Lie group $G$, we elaborate the dynamics on $T^*T^*G$ and $T^*TG$, which is given by a Hamiltonian, as well as the dynamics on the Tulczyjew symplectic space $TT^*G$, which may be defined by a Lagrangian or a Hamiltonian function.…