Several abstract developments are introduced that allow development of Euler-Lagrange equations and Hamilton’s equations within a geometric setting. This includes the assumption that the configuration manifold is a Lie group or a homogeneous space. In all cases, Euler-Lagrange equations and Hamilton’s equations are derived using variational arguments.
CITATION STYLE
Lee, T., Leok, M., & McClamroch, N. H. (2018). Lagrangian and hamiltonian dynamics on manifolds. In Interaction of Mechanics and Mathematics (pp. 347–398). Springer Verlag. https://doi.org/10.1007/978-3-319-56953-6_8
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