A discretization of the nonholonomic Chaplygin sphere problem.
A geometric analysis of dynamical systems with singular Lagrangians
We study dynamics of singular Lagrangian systems described by implicit differential equations from a geometric point of view using the exterior differential systems approach. We analyze a concrete Lagrangian previously studied by other authors by methods of Dirac’s constraint theory, and find its complete dynamics.
A new geometric setting for classical field theories
A new geometrical setting for classical field theories is introduced. This description is strongly inspired by the one due to Skinner and Rusk for singular lagrangian systems. For a singular field theory a constraint algorithm is developed that gives a final constraint submanifold where a well-defined dynamics exists. The main advantage of this algorithm is that the second order condition is automatically included.
A unified approach to constrained mechanical systems as implicit differential equations
Ehresmann Connection in the Geometry of Nonholonomic Systems
Gauge-independent Hamiltonian reduction of constrained systems.
Generalized Hamiltonian dynamics after Dirac and Tulczyjew
Dirac's generalized Hamiltonian dynamics is given an accurate geometric formulation as an implicit differential equation and is compared with Tulczyjew's formulation of dynamics. From the comparison it follows that Dirac's equation-unlike Tulczyjew's-fails to give a complete picture of the real laws of classical and relativistic dynamics.
Generalized Lagrange-d'Alembert Principle
Geometry of non-holonomic diffusion
We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For -Chaplygin systems, this yields a stochastic criterion for the existence of a smooth preserved measure. As an application of our results we consider the motion planning problem for the noisy two-wheeled robot and the noisy snakeboard.
Hidden symmetries of the gravitational contact structure of the classical phase space of general relativistic test particle
The phase space of general relativistic test particle is defined as the 1-jet space of motions. A Lorentzian metric defines the canonical contact structure on the odd-dimensional phase space. In the paper we study infinitesimal symmetries of the gravitational contact phase structure which are not generated by spacetime infinitesimal symmetries, i.e. they are hidden symmetries. We prove that Killing multivector fields admit hidden symmetries of the gravitational contact phase structure and we give...
Non-holonomic mechanical systems in jet bundles.
In this paper we present a geometrical formulation for Lagrangian systems subjected to non-holonomic constraints in terms of jet bundles. Cosymplectic geometry and almost product structures are used to obtained the constrained dynamics without using Lagrange multipliers method.
On D’Alembert’s Principle
A formulation of the D’Alembert principle as the orthogonal projection of the acceleration onto an affine plane determined by nonlinear nonholonomic constraints is given. Consequences of this formulation for the equations of motion are discussed in the context of several examples, together with the attendant singular reduction theory.
Relations between constants of motion and conserved functions
We study relations between functions on the cotangent bundle of a spacetime which are constants of motion for geodesics and functions on the odd-dimensional phase space conserved by the Reeb vector fields of geometrical structures generated by the metric and an electromagnetic field.
Symmetries of a dynamical system represented by singular Lagrangians
Dynamical properties of singular Lagrangian systems differ from those of classical Lagrangians of the form . Even less is known about symmetries and conservation laws of such Lagrangians and of their corresponding actions. In this article we study symmetries and conservation laws of a concrete singular Lagrangian system interesting in physics. We solve the problem of determining all point symmetries of the Lagrangian and of its Euler-Lagrange form, i.e. of the action. It is known that every point...