Related papers: Non-holonomic Lagrangian systems on Lie algebroids
Contact geometry allows to describe some thermodynamic and dissipative systems. In this paper we introduce a new geometric structure in order to describe time-dependent contact systems: cocontact manifolds. Within this setting we develop…
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…
We consider Noether symmetries of the equations defined by the sections of characteristic line bundles of nondegenerate 1-forms and of the associated perturbed systems. It appears that this framework can be used for time-dependent systems…
Graded bundles are a class of graded manifolds which represent a natural generalisation of vector bundles and include the higher order tangent bundles as canonical examples. We present and study the concept of the linearisation of graded…
We introduce a novel approach addressing global analysis of a difficult class of nonconvex-nonsmooth optimization problems within the important framework of Lagrangian-based methods. This genuine nonlinear class captures many problems in…
We describe geometrically contact Lagrangian systems under impulsive forces and constraints, as well as instantaneous nonholonomic constraints which are not uniform along the configuration space. In both situations, the vector field…
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…
The geometric formulation of Hamilton--Jacobi theory for systems with nonholonomic constraints is developed, following the ideas of the authors in previous papers. The relation between the solutions of the Hamilton--Jacobi problem with the…
We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long…
Non-holonomic mechanical systems can be described by a degenerate almost-Poisson structure (dropping the Jacobi identity) in the constrained space. If enough symmetries transversal to the constraints are present, the system reduces to a…
We define and make initial study of Lie groupoids equipped with a compatible homogeneity (or graded bundle) structure, such objects we will refer to as weighted Lie groupoids. One can think of weighted Lie groupoids as graded manifolds in…
The generalized Lie symmetries of almost regular Lagrangians are studied, and their impact on the evolution of dynamical systems is determined. It is found that if the action has a generalized Lie symmetry, then the Lagrangian is…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
Lie algebroids provide a natural medium to discuss classical systems, however, quantum systems have not been considered. In aim of this paper is to attempt to rectify this situation. Lie algebroids are reviewed and their use in classical…
A VB-algebroid is essentially defined as a Lie algebroid object in the category of vector bundles. There is a one-to-one correspondence between VB-algebroids and certain flat Lie algebroid superconnections, up to a natural notion of…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
We propose two types of stochastic extensions of nonholonomic constraints for mechanical systems. Our approach relies on a stochastic extension of the Lagrange-d'Alembert framework. We consider in details the case of invariant nonholonomic…
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…
We disclose the mathematical structure underlying the gauge field sector of the recently constructed non-abelian superconformal models in six spacetime dimensions. This is a coupled system of 1-form, 2-form, and 3-form gauge fields. We show…
Building towards a more covariant approach to canonical classical and quantum gravity we outline an approach to constrained dynamics that de-emphasizes the role of the Hamiltonian phase space and highlights the role of the Lagrangian phase…