Related papers: Geometric Integrators for Nonholonomic Systems on …
Most numerical integration algorithms are not designed specifically for Hamiltonian systems and do not respect their characteristic properties, which include the preservation of phase space volume with time. This can lead to spurious…
Symplectic integration of autonomous Hamiltonian systems is a well-known field of study in geometric numerical integration, but for non-autonomous systems the situation is less clear, since symplectic structure requires an even number of…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
Let $G$ be a Lie group, $\Gamma\subset G$ a discrete subgroup, $X=G/\Gamma$, and $f$ an affine map from $X$ to itself. We give conditions on a submanifold $Z$ of $X$ guaranteeing that the set of points $x\in X$ with $f$-trajectories…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using…
A Lie system is a non-autonomous system of first-order ordinary differential equations describing the integral curves of a non-autonomous vector field taking values in a finite-dimensional real Lie algebra of vector fields, a so-called…
We identify a class of left-invariant pseudo-Riemannian metrics on Lie groups for which the Laplace-Beltrami equation reduces to a first-order PDE and admits exact solutions. The defining condition is the existence of a commutative ideal…
A new class of integrable maps, obtained as lattice versions of polynomial dynamical systems is introduced. These systems are obtained by means of a discretization procedure that preserves several analytic and algebraic properties of a…
Geometric mechanics is a branch of mathematical physics that studies classical mechanics of particles and fields from the point of view of geometry. In a geometric language, symmetries can be expressed in a natural manner as vector fields…
This paper deals with the numerical integration of Hamiltonian systems in which a stiff anharmonic potential causes highly oscillatory solution behavior with solution-dependent frequencies. The impulse method, which uses micro- and…
Optimization tasks are crucial in statistical machine learning. Recently, there has been great interest in leveraging tools from dynamical systems to derive accelerated and robust optimization methods via suitable discretizations of…
Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…
This series of papers is devoted to an open-ended project aimed at the solution of Hilbert's sixth problem (concerning joint axiomatization of physics and probability theory) proposed to be constructed in the framework of an all-embracing…
This paper defines a class of variational problems on Lie groups that admit involutive automorphisms. The maximum Principle of optimal control then identifies the appropriate left invariant Hamiltonians on the Lie algebra of the group. The…
In algorithms for solving optimization problems constrained to a smooth manifold, retractions are a well-established tool to ensure that the iterates stay on the manifold. More recently, it has been demonstrated that retractions are a…
Geometric integrators for nonholonomic systems were introduced by Cort\'es and Mart\'inez in [Nonholonomic integrators, Nonlinearity, 14, 2001] by proposing a discrete Lagrange-D'Alembert principle. Their approach is based on the definition…
We develop a contraction-based framework to establish the existence and exponential stability of periodic solutions in planar nonsmooth dynamical systems governed by Filippov differential inclusions. The method integrates a time- and…