Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Accessible to a broad audience of scientists and engineers
Non-trivial applications worked out in detail, allowing reader to easily apply techniques to real-world problems
Includes exercises at the end of every chapter

Accessible to a broad audience of scientists and engineers Non-trivial applications worked out in detail, allowing reader to easily apply techniques to real-world problems Includes exercises at the end of every chapter Includes supplementary material: sn.pub/extras

Zusammenfassung
Accessible to a broad audience of scientists and engineers
Non-trivial applications worked out in detail, allowing reader to easily apply techniques to real-world problems
Includes exercises at the end of every chapter

Inhalt
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.