Related papers: Constrained Systems and Analytical Mechanics in Sp…

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 formulation of Lagrangian dynamics of constrained mechanical systems in terms of reduced quasi-velocities and quasi-forces that can be used for simulation, analysis, and control purposes. In this formulation, Cholesky…

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…

In this study, it is introduced paracomplex analogue of Lagrangians and Hamiltonians with constraints in the framework of para-Kaehlerian manifolds. The geometrical and mechanical results on the constrained mechanical system have also been…

We introduce four, a priori different, notions of topological pressure for possibly discontinuous semiflows acting on compact metric spaces and observe that they all agree with the classical one when restricted to the continuous setting.…

The Lagrange problem is established in the discrete field theory subject to constraints with values in a Lie group. For the admissible sections that satisfy a certain regularity condition, we prove that the critical sections of such…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

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…

Using well known Lagrangean techniques for uncovering the gauge symmetries of a Lagrangean, we derive the transformation laws for the phase space variables corresponding to local symmetries of the Hamilton equations of motion. These…

The gauge symmetries of a general dynamical system can be systematically obtained following either a Hamiltonean or a Lagrangean approach. In the former case, these symmetries are generated, according to Dirac's conjecture, by the first…

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…

Previous work in the literature has studied the Hamiltonian structure of an R-squared model of gravity with torsion in a closed Friedmann-Robertson-Walker universe. Within the framework of Dirac's theory, torsion is found to lead to a…

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…

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…

We formulate the theory of nearly autoparallel maps (generalizing conformal transforms) of locally anisotropic spaces and define the nearly autoparallel integration as the inverse operation to both covariant derivation and deformation of…

We prove the existence of chaotic motions in a planar restricted four body problem, establishing that the system is not integrable. The idea of the proof is to verify the hypotheses of a topological forcing theorem. The forcing theorem…

In this work, we consider optimal control problems for mechanical systems on vector spaces with fixed initial and free final state and a quadratic Lagrange term. Specifically, the dynamics is described by a second order ODE containing an…

We perform the Hamiltonian constraint analysis for a wide class of gravity theories that are invariant under spatial diffeomorphism. With very general setup, we show that different from the general relativity, the primary and secondary…

Quantum systems with constraints are often considered in modern theoretical physcics. All realistic field models based on the idea of gauge symmetry are of this type. A partial case of constraints being linear in coordinate and momenta…

We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction…