Related papers: A Discretization of the Nonholonomic Chaplygin Sph…
We consider a class of dynamical systems on a Lie group $G$ with a left-invariant metric and right-invariant nonholonomic constraints (so called LR systems) and show that, under a generic condition on the constraints, such systems can be…
The problem of a disc and a ball rolling on a horizontal plane without slipping is considered. Differential constrained equations are shown to be integrated when the trajectory of the point of contact is taken in a form of the natural…
A direct analog of Hadamard's three-circle theorem is obtained for harmonic functions (in weighted L^2-norm) in case of (n-1)-dimensional non-concentric spheres in R^n. The result extends the concentric case to correlated non-concentric,…
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…
In this work, we analyse the discretisation of a recently proposed new Lagrangian approach to optimal control problems of affine-controlled second-order differential equations with cost functions quadratic in the controls. We propose exact…
An interesting family of geometric integrators for Lagrangian systems can be defined using discretizations of the Hamilton's principle of critical action. This family of geometric integrators is called variational integrators. In this…
In this article we study constrained variational problems in one independent variable defined on the space of integral curves of a Frenet system in a homogeneous space G/H. We prove that if the Lagrangian is G-invariant and coisotropic then…
The invariance of the Lagrangian under time translations and rotations in Kepler's problem yields the conservation laws related to the energy and angular momentum. Noether's theorem reveals that these same symmetries furnish generalized…
We construct a structure preserving non-conforming finite element approximation scheme for the bi-harmonic wave maps into spheres equation. It satisfies a discrete energy law and preserves the non-convex sphere constraint of the continuous…
We extensively develop a perturbation theory for nonlinear cosmological dynamics, based on the Lagrangian description of hydrodynamics. We solve hydrodynamic equations for a self-gravitating fluid with pressure, given by a polytropic…
We address the problem of constructing numerical integrators for nonholonomic Lagrangian systems that enjoy appropriate discrete versions of the geometric properties of the continuous flow, including the preservation of energy. Building on…
A new simple Lagrangian method with favorable stability and efficiency properties for computing general plane curve evolutions is presented. The method is based on the flowing finite volume discretization of the intrinsic partial…
In this paper we study Chaplygin's Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton-Poincare-d'Alembert equations in arbitrary degrees of freedom. As special cases we extract…
We examine "dynamical similarities" in the Lagrangian framework. These are symmetries of an intrinsically determined physical system under which observables remain unaffected, but the extraneous information is changed. We establish three…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
Several aspects of the connection between conserved integrals (invariants) and symmetries are illustrated within a hybrid Lagrangian-Hamiltonian framework for dynamical systems. Three examples are considered: a nonlinear oscillator with…
We present a structure preserving discretization of the fundamental spacetime geometric structures of fluid mechanics in the Lagrangian description in 2D and 3D. Based on this, multisymplectic variational integrators are developed for…
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…
Rubber rolling (no-slip and no-twist) of a convex body on the plane under the influence of gravity is a SE(2) Chaplygin system, that reduces to the sphere of Poisson vectors. I comment upon an observation by A.V Borisov and I.S. Mamaev…
In this article, we generalize the theory of discrete Lagrangian mechanics and variational integrators in two principal directions. First, we show that Lagrangian submanifolds of symplectic groupoids give rise to discrete dynamical systems,…