80 research outputs found
Singular lagrangian systems and variational constrained mechanics on Lie algebroids
The purpose of this paper is describe Lagrangian Mechanics for constrained
systems on Lie algebroids, a natural framework which covers a wide range of
situations (systems on Lie groups, quotients by the action of a Lie group,
standard tangent bundles...). In particular, we are interested in two cases:
singular Lagrangian systems and vakonomic mechanics (variational constrained
mechanics). Several examples illustrate the interest of these developments.Comment: 42 pages, Section with examples improve
Geometric aspects of nonholonomic field theories
A geometric model for nonholonomic Lagrangian field theory is studied. The
multisymplectic approach to such a theory as well as the corresponding Cauchy
formalism are discussed. It is shown that in both formulations, the relevant
equations for the constrained system can be recovered by a suitable projection
of the equations for the underlying free (i.e. unconstrained) Lagrangian
system.Comment: 29 pages; typos remove
Optimal Control of Underactuated Mechanical Systems: A Geometric Approach
In this paper, we consider a geometric formalism for optimal control of
underactuated mechanical systems. Our techniques are an adaptation of the
classical Skinner and Rusk approach for the case of Lagrangian dynamics with
higher-order constraints. We study a regular case where it is possible to
establish a symplectic framework and, as a consequence, to obtain a unique
vector field determining the dynamics of the optimal control problem. These
developments will allow us to develop a new class of geometric integrators
based on discrete variational calculus.Comment: 20 pages, 2 figure
Generalized Hamilton-Jacobi equations for nonholonomic dynamics
Employing a suitable nonlinear Lagrange functional, we derive generalized
Hamilton-Jacobi equations for dynamical systems subject to linear velocity
constraints. As long as a solution of the generalized Hamilton-Jacobi equation
exists, the action is actually minimized (not just extremized)
Hamiltonian dynamics and constrained variational calculus: continuous and discrete settings
The aim of this paper is to study the relationship between Hamiltonian
dynamics and constrained variational calculus. We describe both using the
notion of Lagrangian submanifolds of convenient symplectic manifolds and using
the so-called Tulczyjew's triples. The results are also extended to the case of
discrete dynamics and nonholonomic mechanics. Interesting applications to
geometrical integration of Hamiltonian systems are obtained.Comment: 33 page
Hamiltonization of Nonholonomic Systems and the Inverse Problem of the Calculus of Variations
We introduce a method which allows one to recover the equations of motion of
a class of nonholonomic systems by finding instead an unconstrained Hamiltonian
system on the full phase space, and to restrict the resulting canonical
equations to an appropriate submanifold of phase space. We focus first on the
Lagrangian picture of the method and deduce the corresponding Hamiltonian from
the Legendre transformation. We illustrate the method with several examples and
we discuss its relationship to the Pontryagin maximum principle.Comment: 23 pages, accepted for publication in Rep. Math. Phy
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