Related papers: Lie Algebroids in Classical Mechanics and Optimal …
This work studies a class of singular Volterra integral equations that are (controlled) and can be applied to memory-related problems.For optimum controls, we prove a second-order Pontryagin type maximal principle.
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
We study problems of the calculus of variations and optimal control within the framework of time scales. Specifically, we obtain Euler-Lagrange type equations for both Lagrangians depending on higher order delta derivatives and…
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…
We describe in detail how to eliminate nonphysical degrees of freedom in the Lagrangian and Hamiltonian formulations of a constrained system. Two important and distinct steps in our method are the fixing of ambiguities in the dynamics and…
The structure of the Euler-Lagrange equations for a general Lagrangian theory is studied. For these equations we present a reduction procedure to the so-called canonical form. In the canonical form the equations are solved with respect to…
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
We establish Pontryagin principles for a Mayer's optimal control problem governed by a functional differential equation. The control functions are piecewise continuous and the state functions are piecewise continuously differentiable. To do…
Distributed optimization algorithms are used in a wide variety of problems involving complex network systems where the goal is for a set of agents in the network to solve a network-wide optimization problem via distributed update rules. In…
We present a new Lagrangian approach for the dynamical structure of the generalized Proca theory (GP). This approach includes the A-Z constraint structure of the model in the Lagrangian formalism and ends up with an accurate count of the…
We will study the controllability problem of a bilinear control system on $\mathbb{R}^2:$ the main result is the characterization of the Lie algebra rank condition for the system. On the other hand, using elementary techniques, we recover…
We provide new insights into the contact Hamiltonian and Lagrangian formulations of dissipative mechanical systems. In particular, we state a new form of the contact dynamical equations, and we review two recently presented Lagrangian…
We consider a control problem where the state must reach asymptotically a target while paying an integral payoff with a non-negative Lagrangian. The dynamics is just continuous, and no assumptions are made on the zero level set of the…
There is a well developed and useful theory of Hamiltonian reduction for semidirect products, which applies to examples such as the heavy top, compressible fluids and MHD, which are governed by Lie-Poisson type equations. In this paper we…
A discrete version of Lagrangian reduction is developed in the context of discrete time Lagrangian systems on $G\times G$, where $G$ is a Lie group. We consider the case when the Lagrange function is invariant with respect to the action of…
Variational inequalities are an important mathematical tool for modelling free boundary problems that arise in different application areas. Due to the intricate nonsmooth structure of the resulting models, their analysis and optimization is…
Control systems are an integral part of almost every engineering and physical system and thus their accurate analysis is of utmost importance. Traditionally, control systems are analyzed using paper-and-pencil proof and computer simulation…
This work propose an alternative and systematic way to obtain a canonical Lagrangian formulation for rotational systems. This will be done in the symplectic framework and with the introduction of extra variables which enlarge the phase…
Time optimal control problems for some non-smooth systems in general form are considered. The non-smoothness is caused by singularity. It is proved that Pontryagin's maximum principle holds for at least one optimal relaxed control. Thus,…
We develop an epsilon-controlled algebraic L-theory, extending our earlier work on epsilon-controlled algebraic K-theory. The controlled L-theory is very close to being a generalized homology theory; we study analogues of the homology exact…