相关论文: Dynamics of autonomous systems with external force…
Extremal principles can generally be divided into two rather distinct classes. There are, on the one hand side, formulations based on the Lagrangian or Hamiltonian mechanics, respectively, dealing with time dependent problems, but…
his paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint…
In Hamiltonian time-dependent mechanics, the Poisson bracket does not define dynamic equations, that implies the corresponding peculiarities of describing time-dependent holonomic constraints. As in conservative mechanics, one can consider…
We use the hamiltonian formalism to study the asymptotic structure of 3 dimensional gravity with a negative cosmological constant. We start by defining very general fall-off conditions for the canonical variables and study the implied…
The usual formulations of time-dependent mechanics start from a given splitting $Y=R\times M$ of the coordinate bundle $Y\to R$. From physical viewpoint, this splitting means that a reference frame has been chosen. Obviously, such a…
We propose a form for the action of a relativistic particle subject to a positional force that is invariant under time reparametrization and therefore allows for a consistent Hamiltonian formulation of the dynamics. This approach can be…
We show that the exterior algebra bundle over a curved spacetime can be used as framework in which both the Dirac and the Einstein equations can be obtained. These equations and their coupling follow from the variational principle applied…
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 variational principle is proposed for obtaining the Jacobi equations in systems admitting a Lagrangian description. The variational principle gives simultaneously the Lagrange equations of motion and the Jacobi variational equations for…
We study the constrained Ostrogradski-Hamilton framework for the equations of motion provided by mechanical systems described by second-order derivative actions with a linear dependence in the accelerations. We stress out the peculiar…
We study thermodynamical formalism of a discrete nonautonomous dynamical system determined by a sequence of continuous self-maps of a compact metric space. Using the methods of Convex Analysis we get variational principles for pressure…
In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and…
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…
Inspired by problems arising in the geometrical treatment of Yang-Mills theories and Palatini's gravity, the covariant formulation of Hamiltonian dynamical systems as a Hamiltonian field theory of dimension $1+0$ on a manifold with boundary…
Configuration spaces of many real mechanical systems appear to be manifolds with singularity. A singularity often indicates that geometry of motion may change at the singular point of configuration space. We face conceptual problem…
The Lagrangian-Hamiltonian unified formalism of R. Skinner and R. Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, as well as for…
We propose a metriplectic reformulation of Lagrangian variational formulations for non-equilibrium thermodynamics. We prove that solutions to these constrained variational principles can be generated by the sum of a classic Poisson bracket…
The symmetric top is a special case of the general top, and canonical Poisson structure on $T^*SE(3)$ is the common method of its description. This structure is invariant under the right action of $SO(3)$, but the Hamiltonian of the…
We give a natural definition of a Poisson Differential Algebra. Consistence conditions are formulated in geometrical terms. It is found that one can often locally put the Poisson structure on differential calculus in a simple canonical form…
This paper is devoted to the study of mechanical systems subjected to external forces in the framework of symplectic geometry. We obtain a Noether's theorem for Lagrangian systems with external forces, among other results regarding…