Lagrangian mechanics without ordinary differential equations

For integrable systems in the sense of multidimensional consistency (MDC) we can consider the Lagrangian as a form, which is closed on solutions of the equations of motion. For 2-dimensional systems, described by partial difference equations with two independent variables, MDC allows us to define an action on arbitrary 2-dimensional surfaces embedded in a higher dimensional space of independent variables, where the action is not only a functional of the field variables but al...

The generalized Lie symmetries of almost regular Lagrangians are studied, and their impact on the evolution of dynamical systems is determined. It is found that if the action has a generalized Lie symmetry, then the Lagrangian is necessarily singular; the converse is not true, as we show with a specific example. It is also found that the generalized Lie symmetry of the action is a Lie subgroup of the generalized Lie symmetry of the Euler-Lagrange equations of motion. The conv...

The link between the treatment of singular lagrangians as field systems and the general approch is studied. It is shown that singular Lagrangians as field systems are always in exact agreement with the general approch. Two examples and the singular Lagrangian with zero rank Hessian matrix are studied. The equations of motion in the field systems are equivalent to the equations which contain accleration, and the constraints are equivalent to the equations which do not contai...

Variational formulations of statics and dynamics of mechanical systems controlled by external forces are presented as examples of variational principles.

Problems involving rolling without slipping or no sideways skidding, to name a few, introduce velocity-dependent constraints that can be efficiently treated by the method of Lagrange multipliers in the Lagrangian formulation of the classical equations of motion. In doing so one finds, as a bonus, the constraint forces, which must be independent of the solution of the equations of motion, and can only depend on the generalized coordinates and velocities, as well as time. In th...

The fundamental problem of the calculus of variations on time scales concerns the minimization of a delta-integral over all trajectories satisfying given boundary conditions. In this paper we prove the second Euler-Lagrange necessary optimality condition for optimal trajectories of variational problems on time scales. As an example of application of the main result, we give an alternative and simpler proof to the Noether theorem on time scales recently obtained in [J. Math. A...

We discuss the problem of the existence of a regular invariant Lagrangian for a given system of invariant second-order differential equations on a Lie group $G$, using approaches based on the Helmholtz conditions. Although we deal with the problem directly on $TG$, our main result relies on a reduction of the system on $TG$ to a system on the Lie algebra of $G$. We conclude with some illustrative examples.

In this work, we propose an Action Principle for Action-dependent Lagrangian functions by generalizing the Herglotz variational problem to the case with several independent variables. We obtain a necessary condition for the extremum equivalent to the Euler-Lagrange equation and, through some examples, we show that this generalized Action Principle enables us to construct simple and physically meaningful Action-dependent Lagrangian functions for a wide range of non-conservativ...

An activity fundamental to science is building mathematical models. These models are used to both predict the results of future experiments and gain insight into the structure of the system under study. We present an algorithm that automates the model building process in a scientifically principled way. The algorithm can take observed trajectories from a wide variety of mechanical systems and, without any other prior knowledge or tuning of parameters, predict the future evolu...

Variational integrators applied to degenerate Lagrangians that are linear in the velocities are two-step methods. The system of modified equations for a two-step method consists of the principal modified equation and one additional equation describing parasitic oscillations. We observe that a Lagrangian for the principal modified equation can be constructed using the same technique as in the case of non-degenerate Lagrangians. Furthermore, we construct the full system of modi...