Related papers: Holonomic constraints : an analytical result
In this paper we show that a variational reduction procedure can be defined for Lagrangian systems subject to scaling symmetries (i.e. Lagrangian systems defined by a homogenous Lagrangian function), in such a way that the trajectories of…
Equipping approximate dynamic programming (ADP) with inputconstraints has a tremendous significance. This enables ADP to be applied tothe systems with actuator limitations, which is quite common for dynamicalsystems. In a conventional…
The unique solvability and error analysis of the original Lagrange multiplier approach proposed in [8] for gradient flows is studied in this paper. We identify a necessary and sufficient condition that must be satisfied for the nonlinear…
This work conducts a Hamilton-Jacobi analysis of classical dynamical systems with internal constraints. We examine four systems, all previously analyzed by David Brown: three with familiar components (point masses, springs, rods, ropes, and…
Explicit symplectic integrators have been important tools for accurate and efficient approximations of mechanical systems with separable Hamiltonians. For the first time, the article proposes for arbitrary Hamiltonians similar integrators,…
The nonholonomic constrained system with second-class constraints is investigated using the Hamilton-Jacobi (HJ) quantization scheme to yield the complete equations of motion of the system. Although the integrability conditions in the HJ…
In this work an approximated path integral model describing the dynamics of a inextensible chain is presented. To this purpose, the nonlinear constraints which enforce the property of inextensibility of the chain are relaxed and are just…
The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially…
We study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of variational principles, not equations of…
Two are the main objectives of this article: first, we introduce a method for determining and analyzing constrained local extrema that provides a different alternative to all previous works on the topic, by eliminating Lagrange multipliers…
A way to obtain a correspondence between the first order and second order formalism is studied. By introducing a Lagrange multiplier coupled to the covariant derivative of the metric, a metricity constraint is implemented. The new…
We study a class of weakly coupled Hamilton-Jacobi systems with a specific aim to perform a qualitative analysis in the spirit of weak KAM theory. Our main achievement is the definition of a family of related action functionals containing…
This article studies clogging phenomena using a velocity-based model for pedestrian dynamics. First, a method to identify prolonged clogs in simulations was introduced. Then bottleneck simulations were implemented with different initial and…
The Hamiltonian description for a wide class of mechanical systems, having local symmetry transformations depending on time derivatives of the gauge parameters of arbitrary order, is constructed. The Poisson brackets of the Hamiltonian and…
We discuss an elementary derivation of variational symmetries and corresponding integrals of motion for the Lagrangian systems depending on acceleration. Providing several examples, we make the manuscript accessible to a wide range of…
The aim of the present text is twofold: to provide a compendium of Lagrangian and Hamiltonian geometries and to introduce and investigate new analytical Mechanics: Finslerian, Lagrangian and Hamiltonian. The fundamental equations (or…
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard…
We develop a Lagrange multiplier theory for nonconvex set-valued optimization problems under Lipschitz-type regularity conditions. Instead of classical continuous linear functionals, we introduce closed convex processes -- set-valued…
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…
The 2-dimensional inverse problem for first-order systems is analysed and a method to construct an affine Lagrangian for such systems is developed. The determination of such Lagrangians is based on the theory of the Jacobi multiplier for…