相关论文: Discrete Routh Reduction

In this paper, we consider the controlled rigid spacecraft with an internal rotor as a regular point reducible regular controlled Hamiltonian (RCH) system. In the cases of coincident and non-coincident centers of buoyancy and gravity, we…

Variational integrators have traditionally been constructed from the perspective of Lagrangian mechanics, but there have been recent efforts to adopt discrete variational approaches to the symplectic discretization of Hamiltonian mechanics…

The discrete non-commutative Darboux system of equations with self-consistent sources is constructed, utilizing both the vectorial fundamental (binary Darboux) transformation and the method of additional independent variables. Then the…

This paper proposes a dynamical notion of discrete geodesics, understood as straightest trajectories in discretized curved spacetime. The notion is generic, as it is formulated in terms of a general deviation function, but readily…

Incorporating symmetries into the numerical solution of differential equations has been a mainstay of research over the last 40 years, however, one aspect is less known and under-utilised: discretisations of partial differential equations…

We apply the ``consistent discretization'' technique to the Regge action for (Euclidean and Lorentzian) general relativity in arbitrary number of dimensions. The result is a well defined canonical theory that is free of constraints and…

We consider the efficient numerical solution of coupled dynamical systems, consisting of a small nonlinear part and a large linear time invariant part, possibly stemming from spatial discretization of an underlying partial differential…

In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…

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…

Explicit and semi-explicit geometric integration schemes for dissipative perturbations of Hamiltonian systems are analyzed. The dissipation is characterized by a small parameter $\epsilon$, and the schemes under study preserve the…

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…

This paper extends our previous work~(Szumi\'nski and Maciejewski, 2024), where we explored the dynamics and integrability of the double-spring pendulum. Here, we investigate the variable-length double pendulum, a three-degree-of-freedom…

We demonstrate the discrete duality symmetry between the Abelian 1-form and 2-form basic gauge fields in the context of a three $(2 + 1)$-dimensional ($3D$) combined system of the field-theoretic model of the free Abelian 1-from and 2-form…

For For a given PDE system, or an exterior differential system possessing a Lie group of internal symmetries the orbit reduction procedure is introduced. It is proved that the solutions of the reduced exterior differential system are in…

The possibility of the global Lagrangian reduction of a mechanical system with symmetry is shown to be connected with the characteristic class of a principal fiber bundle of the configuration space over the factor manifold. It is proved…

We present a new automated method for finding integrable symplectic maps of the plane. These dynamical systems possess a hidden symmetry associated with an existence of conserved quantities, i.e. integrals of motion. The core idea of the…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…

We propose a family of integrators, Flow-Composed Implicit Runge-Kutta (FCIRK) methods, for perturbations of nonlinear ordinary differential equations, consisting of the composition of flows of the unperturbed part alternated with one step…

Based on a concept link between the partial reduction procedure of the reduction of the rotational symmetry of the N-body problem with the symplectic cross-section theorem of Guillemin-Sternberg, we present alternative proofs of the…

A method of constructing of Darboux coordinates on a space that is a symplectic reduction with respect to a diagonal action of $GL(m})$ on a Cartesian product of $N$ orbits of coadjoint representation of $GL(m)$ is presented. The method…