Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds: A Geometric Approach to Modeling and Analysis By Taeyoung Lee, Melvin Leok, N. Harris McClamrochEnglish | PDF | 2017 (2018 Edition) | 561 Pages | ISBN : 3319569511 | 6.39 MB
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 the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities.