By Taeyoung Lee,Melvin Leok,N. Harris McClamroch
This publication offers an available creation to the variational formula of Lagrangian and Hamiltonian mechanics, with a unique emphasis on worldwide descriptions of the dynamics, that's an important conceptual departure from extra conventional methods in accordance with using neighborhood coordinates at the configuration manifold. particularly, we introduce a common technique for acquiring globally legitimate equations of movement on configuration manifolds which are Lie teams, homogeneous areas, and embedded manifolds, thereby fending off the problems linked to coordinate singularities.
The fabric is gifted in an approachable style by way of contemplating concrete configuration manifolds of accelerating complexity, which then motivates and of course results in the extra normal formula that follows. figuring out of the fabric is more suitable by means of quite a few in-depth examples in the course of the publication, culminating in non-trivial purposes concerning multi-body systems.
This booklet is written for a normal viewers of mathematicians, engineers, and physicists with a easy wisdom of mechanics. a few uncomplicated heritage in differential geometry is beneficial, yet now not crucial, because the suitable recommendations are brought within the e-book, thereby making the fabric obtainable to a large viewers, and appropriate for both self-study or because the foundation for a graduate direction in utilized arithmetic, engineering, or physics.
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Extra resources for Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds: A Geometric Approach to Modeling and Analysis (Interaction of Mechanics and Mathematics)
Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds: A Geometric Approach to Modeling and Analysis (Interaction of Mechanics and Mathematics) by Taeyoung Lee,Melvin Leok,N. Harris McClamroch