Related papers: Non-holonomic Lagrangian systems on Lie algebroids

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…

Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…

A natural geometric framework is proposed, based on ideas of W. M. Tulczyjew, for constructions of dynamics on general algebroids. One obtains formalisms similar to the Lagrangian and the Hamiltonian ones. In contrast with recently studied…

The notion of Lie algebroids over a topological ringed space provides a unified framework to study various geometric structures. This geometric concept is intimately connected with well-known algebraic structures, including Gerstenhaber…

The Lie product and the order relation are viewed as defining structures for Hamiltonian dynamical systems. Their admissible combinations are singled out by the requirement that the group of the Lie automorphisms be contained in the group…

Lagrangian Neural Networks (LNNs) are a powerful tool for addressing physical systems, particularly those governed by conservation laws. LNNs can parametrize the Lagrangian of a system to predict trajectories with nearly conserved energy.…

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…

This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the…

Although conservative Hamiltonian systems with constraints can be formulated in terms of Dirac structures, a more general framework is necessary to cover also dissipative systems such as gradient and metriplectic systems with constraints.…

A notion of implicit difference equation on a Lie groupoid is introduced and an algorithm for extracting the integrable part (backward or/and forward) is formulated. As an application, we prove that discrete Lagrangian dynamics on a Lie…

We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics…

The nonholonomic dynamics can be described by the so-called nonholonomic bracket in the constrained submanifold, which is a non-integrable modification of the Poisson bracket of the ambient space, in this case, of the canonical bracket in…

Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control…

In this paper we discuss variational constrained mechanics (vakonomic mechanics) on Lie affgebroids. We obtain the dynamical equations and the aff-Poisson bracket associated with a vakonomic system on a Lie affgebroid ${\mathcal A}$. We…

We define the Hochschild (co)homology of a ringed space relative to a locally free Lie algebroid. Our definitions mimic those of Swan and Caldararu for an algebraic variety. We show that our (co)homology groups can be computed using…

We extend the theory of exterior differential systems from manifolds and their tangent bundles to Lie algebroids. In particular, we define the concept of an integral manifold of such an exterior differential system. We support our…

The Lie algebroids are generalization of the Lie algebras. They arise, in particular, as a mathematical tool in investigations of dynamical systems with the first class constraints. Here we consider canonical symmetries of Hamiltonian…

Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…

The evolution of a Lagrangian mechanical system is variational. Likewise, when dealing with a hybrid Lagrangian system (a system with discontinuous impacts), the impacts can also be described by variations. These variational impacts are…

This paper develops the tools of formal algebraic geometry in the setting of noncommutative manifolds, roughly ringed spaces locally modeled on the free associative algebra. We define a notion of noncommutative coordinate system, which is a…