Variational integrators in discrete vakonomic mechanics (Q1935054): Difference between revisions
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Revision as of 19:56, 19 March 2024
scientific article
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English | Variational integrators in discrete vakonomic mechanics |
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Variational integrators in discrete vakonomic mechanics (English)
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30 January 2013
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The authors consider variational integrators in discrete vakonomic mechanics. They introduce new concepts: ``admissible section'', ``admissible infinitesimal variation'' and ``constrained variational integrator'', they show that critical sections are extremals of a variational problem without constraints canonically associated to the initial system (Lagrange multiplier rule), and show, under certain regularity conditions, that the integrators can be locally constructed from a generating function of the second kind in the sense of symplectic geometry. Examples on an isoperimetric problem and an optimal control problem illustrate the theoretical results.
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variational integrators
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vakonomic mechanics
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discrete Cartan forms
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generating functions
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