相关论文: Discrete Nonholonomic LL Systems on Lie Groups

We propose the difference discrete variational principle in discrete mechanics and symplectic algorithm with variable step-length of time in finite duration based upon a noncommutative differential calculus established in this paper. This…

We consider an array of double oligomers in an optical waveguide device. A mathematical model for the system is the coupled discrete nonlinear Schr\"odinger (NLS) equations, where the gain-and-loss parameter contributes to the…

For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…

We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…

We introduce a class of dynamical systems having an invariant measure, the modifications of well known systems on Lie groups: LR and L+R systems. As an example, we study modified Veselova nonholonomic rigid body problem, considered as a…

We present a general algorithm constructing a discretization of a classical field theory from a Lagrangian. We prove a new discrete Noether theorem relating symmetries to conservation laws and an energy conservation theorem not based on any…

Matched pairs of Lie groupoids and Lie algebroids are studied. Discrete Euler-Lagrange equations are written for the matched pairs of Lie groupoids. As such, a geometric framework to analyse a discrete system by decomposing it into two…

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…

Statistical mechanics of the discrete nonlinear Schr\"odinger equation is studied by means of analytical and numerical techniques. The lower bound of the Hamiltonian permits the construction of standard Gibbsian equilibrium measures for…

We derive variational integrators for stochastic Hamiltonian systems on Lie groups using a discrete version of the stochastic Hamiltonian phase space principle. The structure-preserving properties of the resulting scheme, such as…

We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…

This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the…

An overview is given of basic models combining discreteness in their linear parts (i.e. the models are built as dynamical lattices) and nonlinearity acting at sites of the lattices or between the sites. The considered systems include the…

The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…

We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…

Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled…

The Chaplygin sleigh is a classic example of a nonholonomically constrained mechanical system. The sleigh's motion always converges to a straight line whose slope is entirely determined by the initial configuration and velocity of the…

Discrete gradient methods are a powerful tool for the time discretization of dynamical systems, since they are structure-preserving regardless of the form of the total energy. In this work, we discuss the application of discrete gradient…

We investigate discretization strategies for a recently introduced class of energy-based models. The model class encompasses classical port-Hamiltonian systems, generalized gradient flows, and certain systems with algebraic constraints. Our…

This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine…