Related papers: Virtual Displacement in Lagrangian Dynamics
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
A boundary value problem is commonly associated with constraints imposed on a system at its boundary. We advance here an alternative point of view treating the system as interacting "boundary" and "interior" subsystems. This view is…
Backpropagation is typically presented as a symbolic procedure: a backward pass topologically distinct from inference, with non-local error signals and synchronous global clocking, features with no clear analog in physical reality. Existing…
The equations of motion describing all physical systems, except gravity, remain invariant if a constant is added to the Lagrangian. In the conventional approach, gravitational theories break this symmetry exhibited by all other physical…
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…
Absolute space is eliminated from the body of mechanics by gauging translations and rotations in the Lagrangian of a classical system. The procedure implies the addition of compensating terms to the kinetic energy, in such a way that the…
Vakonomic mechanics has been proposed as a possible description of the dynamics of systems subject to nonholonomic constraints. The aim of the present work is to show that for an important physical system the motion brought about by…
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard…
We introduce a general method to construct classes of dynamical systems invariant under generalizations of the Carroll and of the Galilei groups. The method consists in starting from a space-time in $D+1$ dimensions and partitioning it in…
We provide a comprehensive classification of constraints and degrees of freedom for variational discrete systems governed by quadratic actions. This classification is based on the different types of null vectors of the Lagrangian two-form…
Phase-space Lagrangian dynamics in ideal fluids (i.e, continua) is usually related to the so-called {\it ideal tracer particles}. The latter, which can in principle be permitted to have arbitrary initial velocities, are understood as…
Transport and mixing of scalar quantities in fluid flows is ubiquitous in industry and Nature. Turbulent flows promote efficient transport and mixing by their inherent randomness. Laminar flows lack such a natural mixing mechanism and…
Space-time covariance modeling under the Lagrangian framework has been especially popular to study atmospheric phenomena in the presence of transport effects, such as prevailing winds or ocean currents, which are incompatible with the…
We analyze the relation between the concept of auxiliary variables and the Inverse problem of the calculus of variations to construct a Lagrangian from a given set of equations of motion. The problem of the construction of a consistent…
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are…
We present a direct approach to the construction of Lagrangians for a large class of one-dimensional dynamical systems with a simple dependence (monomial or polynomial) on the velocity. We rederive and generalize some recent results and…
We show that if a Lagrangian is invariant under a transformation (with the invariance defined in the standard manner), then the equations of motion obtained from it maintain their form under the transformation. We also show that the…
This note presents an attempt to provide a conceptual framework for variational formulations of classical physics. Variational principles of physics have all a common source in the {\it principle of virtual work} well known in statics of…
A longstanding open question in classical mechanics is to formulate the least action principle for dissipative systems. In this work, we give a general formulation of this principle by considering a whole conservative system including the…
The necessity of rejecting the numerical model of geometrical extension is postulated on the basis of the idea of identity of space-time and physical vacuum. An attempt is made to define space-time not via the concept of manifold, but via…