Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds A Geometric Approach to Modeling and Analysis /

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on th...

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Bibliographic Details
Main Authors: Lee, Taeyoung (Author), Leok, Melvin (Author), McClamroch, N. Harris (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Cham : Springer International Publishing : Imprint: Springer, 2018.
Edition:1st ed. 2018.
Series:Interaction of Mechanics and Mathematics,
Subjects:
Dynamical systems.
Multibody systems.
Vibration.
Mechanics, Applied.
System theory.
Control theory.
Mathematics > Data processing.
Dynamical Systems.
Multibody Systems and Mechanical Vibrations.
Systems Theory, Control.
Computational Mathematics and Numerical Analysis.
Online Access:Full-text access
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Table of Contents:
  • Mathematical Background
  • Kinematics
  • Classical Lagrangian and Hamiltonian Dynamics
  • Langrangian and Hamiltonian Dynamics on (S1)n
  • Lagrangian and Hamiltonian Dynamics on (S2)n
  • Lagrangian and Hamiltonian Dynamics on SO(3)
  • Lagrangian and Hamiltonian Dynamics on SE(3)
  • Lagrangian and Hamiltonian Dynamics on Manifolds
  • Rigid and Mult-body Systems
  • Deformable Multi-body Systems
  • Fundamental Lemmas of the Calculus of Variations
  • Linearization as an Approximation to Lagrangian Dynamics on a Manifold.

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