Related papers: Geometric integrators and nonholonomic mechanics
This paper presents an analytical model and a geometric numerical integrator for a tethered spacecraft model that is composed of two rigid bodies connected by an elastic tether. This model includes important dynamic characteristics of…
Non-holonomic constraints, both in the Lagragian and Hamiltonian formalism, are discussed from the geometrical viewpoint of implicit differential equations. A precise statement of both problems is presented remarking the similarities and…
We propose a numerical scheme for the time-integration of nonholonomic mechanical systems, both conservative and nonconservative. The scheme is obtained by simultaneously discretizing the constraint equations and the Herglotz variational…
We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the…
We show that some modern geometric methods of Hamiltonian dynamics can be directly applied to the nonholonomic Heisenberg type systems. As an example we present characteristic Killing tensors, compatible Poisson brackets, Lax matrices and…
Projective geodesic extensions are reparametrizations of the trajectories of a nonholonomic mechanical system (with only a kinetic energy Lagrangian), in such a way that they can be interpreted as part of the geodesics of a Riemannian…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
The group of automorphisms of the geometry of an integrable system is considered. The geometrical structure used to obtain it is provided by a normal form representation of integrable systems that do not depend on any additional geometrical…
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. Variational integrators are an important class of geometric integrators. The general idea…
We expose (without proofs) a unified computational approach to integrable structures (including recursion, Hamiltonian, and symplectic operators) based on geometrical theory of partial differential equations. We adopt a coordinate based…
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
Hamiltonian systems are differential equations which describe systems in classical mechanics, plasma physics, and sampling problems. They exhibit many structural properties, such as a lack of attractors and the presence of conservation…
The symmetric Macdonald polynomials are able to be constructed out of the non-symmetric Macdonald polynomials. This allows us to develop the theory of the symmetric Macdonald polynomials by first developing the theory of their non-symmetric…
In this paper, we derive a "hamiltonian formalism" for a wide class of mechanical systems, including classical hamiltonian systems, nonholonomic systems, some classes of servomechanism... This construction strongly relies in the geometry…
This paper continues the author's previous work on a limit-free algebraic-geometric construction of the derivative in the class of polynomial functions and extends the proposed framework to elementary functions. Derivatives of rational…
The methods of integral operators on the cohomology of Hilbert schemes of points on surfaces are developed. They are used to establish integral bases for the cohomology groups of Hilbert schemes of points on a class of surfaces (and…
We construct integrals of motion for multidimensional classical systems from ladder operators of one-dimensional systems. This method can be used to obtain new systems with higher order integrals. We show how these integrals generate a…
Starting from a contact Hamiltonian description of Li\'enard systems, we introduce a new family of explicit geometric integrators for these nonlinear dynamical systems. Focusing on the paradigmatic example of the van der Pol oscillator, we…
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…
We use generating functions to express orthogonality relations in the form of $q$-beta integrals. The integrand of such a $q$-beta integral is then used as a weight function for a new set of orthogonal or biorthogonal