相关论文: Error analysis of forced discrete mechanical syste…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

This paper considers the implicit Euler discretization of Levant's arbitrary order robust exact differentiator in presence of sampled measurements. Existing implicit discretizations of that differentiator are shown to exhibit either…

In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the…

The paper is devoted to a comprehensive study of composite models in variational analysis and optimization the importance of which for numerous theoretical, algorithmic, and applied issues of operations research is difficult to overstate.…

We study various corrections of correlation functions to leading order in conformal perturbation theory, both on the cylinder and on the plane. Many problems on the cylinder are mathematically equivalent to those in the plane if we give the…

The immersed boundary (IB) method is a non-body conforming approach to fluid-structure interaction (FSI) that uses an Eulerian description of the momentum, viscosity, and incompressibility of a coupled fluid-structure system and a…

Compatible discretizations, such as finite element exterior calculus, provide a discretization framework that respect the cohomological structure of the de Rham complex, which can be used to systematically construct stable mixed finite…

The paper presents necessary and sufficient conditions for the order reduction of optimal control systems. Exploring the corresponding Hamiltonian system allows to solve the order reduction problem in terms of dynamical systems,…

This paper discusses discretization methods for implementing nonlinear model predictive controllers using Iterative Linear Quadratic Regulator (ILQR). Finite-difference approximations are mostly used to derive a discrete-time state equation…

Our aim is to detect mechanistic interaction between the effects of two causal factors on a binary response, as an aid to identifying situations where the effects are mediated by a common mechanism. We propose a formalization of mechanistic…

The aim of the present paper is twofold. We study directed porosity in connection with conformal iterated function systems (CIFS) and with singular integrals. We prove that limit sets of finite CIFS are porous in a stronger sense than…

We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the…

We introduce generalized Galerkin variational integrators, which are a natural generalization of discrete variational mechanics, whereby the discrete action, as opposed to the discrete Lagrangian, is the fundamental object. This is achieved…

Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…

In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…

This paper presents the first application of the direct parametrisation method for invariant manifolds to a fully coupled multiphysics problem involving the nonlinear vibrations of deformable structures subjected to an electrostatic field.…

We study a type of forced discrete mechanical system $(Q,L_d,f_d)$ -- that we name of Routh type -- whose (discrete) time-flow preserves a symplectic structure on $Q\times Q$. That structure arises as the pullback via the forced discrete…

This is a study of certain finite element methods designed for convection-dominated, time-dependent partial differential equations. Specifically, we analyze high order space-time tensor product finite element discretizations, used in a…

This work explores the tensor and combinatorial constructs underlying the linearised higher-order variational equations of a generic autonomous system along a particular solution. The main result of this paper is a compact yet explicit and…

Employing a phase space which includes the (Riemann-Liouville) fractional derivative of curves evolving on real space, we develop a restricted variational principle for Lagrangian systems yielding the so-called restricted fractional…