Global formulations of Lagrangian and Hamiltonian dynamics on manifolds. A geometric approach to modeling and analysis

DOI10.1007/978-3-319-56953-6zbMATH Open1381.70005OpenAlexW2749863061MaRDI QIDQ526986FDOQ526986

Authors: Melvin Leok, Tae-Young Lee, N. Harris Mcclamroch 

Publication date: 15 May 2017

Published in: Interaction of Mechanics and Mathematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-56953-6

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zbMATH Keywords

geometric mechanicsLie groupLagrangian and Hamiltonian dynamics on manifolds

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to dynamical systems and ergodic theory (37-02) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37Jxx) Hamiltonian and Lagrangian mechanics (70Hxx)

Cited In (16)

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• The variational discretization of the constrained higher-order Lagrange-Poincaré equations
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• A new geometric trajectory tracking controller for the unicycle mobile robot
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