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Non-holonomic Lagrangian systems on Lie algebroids

J. Cortes·M. de Leon·J. C. Marrero·E. Martinez
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Abstract

This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee the dynamics of the system can be obtained as a suitable projection of the unconstrained dynamics. The proposed novel formalism provides new insights into the geometry of nonholonomic systems, and allows us to treat in a unified way a variety of situations, including systems with symmetry, morphisms and reduction, and nonlinearly constrained systems. Various examples illustrate the results.

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J. Cortes, M. de Leon, J. C. Marrero, E. Martinez. 2008-04-30. Non-holonomic Lagrangian systems on Lie algebroids. https://arxiv.org/abs/math-ph/0512003

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