Geometric constrained variational calculus. I: Piecewise smooth extremals.
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Publication:5261035
Abstract: A geometric setup for constrained variational calculus is presented. The analysis deals with the study of the extremals of an action functional defined on piecewise differentiable curves, subject to differentiable, non-holonomic constraints. Special attention is paid to the tensorial aspects of the theory. As far as the kinematical foundations are concerned, a fully covariant scheme is developed through the introduction of the concept of infinitesimal control. The standard classification of the extremals into normal and abnormal ones is discussed, pointing out the existence of an algebraic algorithm assigning to each admissible curve a corresponding abnormality index, related to the co-rank of a suitable linear map. Attention is then shifted to the study of the first variation of the action functional. The analysis includes a revisitation of Pontryagin's equations and of the Lagrange multipliers method, as well as a reformulation of Pontryagin's algorithm in hamiltonian terms. The analysis is completed by a general result, concerning the existence of finite deformations with fixed endpoints.
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Cited in
(13)- Geometric constrained variational calculus. II: The second variation (part I)
- On the notion of Jacobi fields in constrained calculus of variations
- Conditional extremals
- Deformation of piecewise differentiable curves in constrained variational calculus
- Geometric constrained variational calculus. III: The second variation (part II)
- A new geometrical look at Ostrogradsky's procedure
- Some geometric aspects of variational calculus in constrained systems
- Admissible extremals in the problems of variational calculus with constraints in the form of a system of linear inhomogeneous differential equations of the first order with rectangular matrices
- The non-holonomic Herglotz variational problem
- On the Herglotz variational problem
- Constrained variational calculus for higher order classical field theories
- A probabilistic deformation of calculus of variations with constraints
- Variational problems with differential constraints: A geometric approach without Lagrange multipliers
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