相关论文: Hamiltonization of Nonholonomic Systems and the In…

Standandard Hamiltonian mechanics in its homogeneous formulation is applied to the study of discontinuities representing rapid changes of Hamiltonians. Different formulations of Hamiltonian mechanics are reviewed. An original representation…

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…

A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…

We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…

Reparametrization invariant Lagrangian theories with higher derivatives are considered. We investigate the geometric structures behind these theories and construct the Hamiltonian formalism in a geometric way. The Legendre transformation…

We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…

We introduce a Hamiltonian framework for nonlocal Lagrangian systems without relying on infinite-derivative expansions. Starting from a (trajectory-based) variational principle and a generalized Noether theorem, we define the canonical…

The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of the Euler-Lagrange equations for some regular Lagrangian.…

An alternative version of Hamiltonian formalism for higher-derivative theories is presented. It is related to the standard Ostrogradski approach by a canonical transformation. The advantage of the approach presented is that the Lagrangian…

It is shown that a given non-autonomous system of two first-order ordinary differential equations can be expressed in Hamiltonian form. The derivation presented here allow us to obtain previously known results such as the infinite number of…

We present an approach to the canonical quantization of systems with equations of motion that are historically called non-Lagrangian equations. Our viewpoint of this problem is the following: despite the fact that a set of differential…

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.…

In the context of optimal control, we consider the inverse problem of Lagrangian identification given system dynamics and optimal trajectories. Many of its theoretical and practical aspects are still open. Potential applications are very…

We consider some issues of the representation in the Hamiltonian form of two problems of nonholonomic mechanics, namely, the Chaplygin's ball problem and the Veselova problem. We show that these systems can be written as generalized…

This paper formulates a variational approach for treating observational uncertainty and/or computational model errors as stochastic transport in dynamical systems governed by action principles under nonholonomic constraints. For this…

A Hamiltonian formulation of generic many-particle systems with space-dependent balanced loss and gain coefficients is presented. It is shown that the balancing of loss and gain necessarily occurs in a pair-wise fashion. Further, using a…

We develop Hamilton-Jacobi theory for Chaplygin systems, a certain class of nonholonomic mechanical systems with symmetries, using a technique called Hamiltonization, which transforms nonholonomic systems into Hamiltonian systems. We give a…

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…

Recently, there has been an increasing interest in modelling and computation of physical systems with neural networks. Hamiltonian systems are an elegant and compact formalism in classical mechanics, where the dynamics is fully determined…

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…