Download e-book for iPad: Global Formulations of Lagrangian and Hamiltonian Dynamics by Taeyoung Lee,Melvin Leok,N. Harris McClamroch

By Taeyoung Lee,Melvin Leok,N. Harris McClamroch

ISBN-10: 3319569511

ISBN-13: 9783319569512

This booklet offers an available advent to the variational formula of Lagrangian and Hamiltonian mechanics, with a singular emphasis on worldwide descriptions of the dynamics, that is an important conceptual departure from extra conventional techniques in accordance with using neighborhood coordinates at the configuration manifold. particularly, we introduce a basic method for acquiring globally legitimate equations of movement on configuration manifolds which are Lie teams, homogeneous areas, and embedded manifolds, thereby keeping off the problems linked to coordinate singularities.

The fabric is gifted in an approachable style via contemplating concrete configuration manifolds of accelerating complexity, which then motivates and of course results in the extra basic formula that follows. realizing of the fabric is better through a variety of in-depth examples during the booklet, culminating in non-trivial purposes concerning multi-body systems.

This ebook is written for a common viewers of mathematicians, engineers, and physicists with a simple wisdom of mechanics. a few uncomplicated heritage in differential geometry is useful, yet now not crucial, because the suitable recommendations are brought within the publication, thereby making the fabric available to a huge viewers, and compatible for both self-study or because the foundation for a graduate path in utilized arithmetic, engineering, or physics.

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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

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