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arXiv · 0706.2789

Singular lagrangian systems and variational constrained mechanics on Lie algebroids

D. Iglesias·J. C. Marrero·D. Martin de Diego·D. Sosa
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Abstract

The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard tangent bundles...). In particular, we are interested in two cases: singular Lagrangian systems and vakonomic mechanics (variational constrained mechanics). Several examples illustrate the interest of these developments.

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D. Iglesias, J. C. Marrero, D. Martin de Diego, D. Sosa. 2008-02-07. Singular lagrangian systems and variational constrained mechanics on Lie algebroids. https://arxiv.org/abs/0706.2789

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