相关论文: AV-differential geometry: Euler-Lagrange equations
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…
Invariant Lagrangians yield invariant Euler-Lagrange equations, and it was discussed in the literature how to compute those using various local methods. The focus of this paper is on global algebraic differential invariants. In this case…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
In this work, we make new developments in generic cotangent bundle geometries, depending on all phase-space variables. In particular, we will focus on the so-called generalized Hamilton spaces, discussing how the main ingredients of this…
We develop a geometric framework for the numerical integration of mechanical systems evolving on manifolds. After briefly reviewing classical numerical methods and highlighting their limitations and shortcomings in non-flat (non-Euclidean)…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
Guided by the symmetries of the Euler-Lagrange equations of motion, a study of the constrained dynamics of singular Lagrangians is presented. We find that these equations of motion admit a generalized Lie symmetry, and on the Lagrangian…
The structure of the Euler-Lagrange equations for a general Lagrangian theory is studied. For these equations we present a reduction procedure to the so-called canonical form. In the canonical form the equations are solved with respect to…
An affine Cartan calculus is developed. The concepts of special affine bundles and special affine duality are introduced. The canonical isomorphisms, fundamental for Lagrangian and Hamiltonian formulations of the dynamics in the affine…
The present article deals with a formulation of the so called (vacuum) Palatini gravity as a general variational principle. In order to accomplish this goal, some geometrical tools related to the geometry of the bundle of connections of the…
We develop a new, coordinate-free formulation of Hamiltonian mechanics on the dual of a Lie algebroid. Our approach uses a connection, rather than coordinates in a local trivialization, to obtain global expressions for the horizontal 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…
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
Natural analogs of Lie brackets on affine bundles are studied, based on natural examples from differential geometry and analytical mechanics. In particular, a close relation to Lie algebroids and, by a sort of duality, to affine analogs of…
A geometric framework for describing and solving time-dependent implicit differential equations F(t,x,x')=0 is studied, paying special attention to the linearly singular case, where F is affine in the velocities: A(t,x)x' = b(t,x). This…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
Reductions of higher tangent bundles of Lie groupoids provide natural examples of geometric structures which we would like to call higher algebroids. Such objects can be also constructed abstractly starting from an arbitrary almost Lie…
For a space endowed with a general quadratic multi-time Lagrangian and an associated non-linear connection, the paper constructs the main Riemann-Lagrange distinguished geometric objects (linear connection, torsion and curvature).
A reductive structure is associated here with Lagrangian canonically defined conserved quantities on gauge-natural bundles. Parametrized transformations defined by the gauge-natural lift of infinitesimal principal automorphisms induce a…
The geometric Lagrangian theory (of arbitrary order) is based on the analysis of some basic mathematical objects such as: the contact ideal, the (exact) variational sequence, the existence of Euler-Lagrange and Helmholtz-Sonin forms, etc.…