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• W2951677482 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." @default.
• W2951677482 created "2019-06-27" @default.
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• W2951677482 date "2005-12-01" @default.
• W2951677482 modified "2023-10-16" @default.
• W2951677482 title "Non-holonomic Lagrangian systems on Lie algebroids" @default.
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• W2951677482 hasPublicationYear "2005" @default.
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