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Título: | Nonholonomic systems on Lie algebroids |
Autor: | Cortés, Jorge; León, Manuel de; Marrero, Juan Carlos; Martínez, Eduardo | Palabras clave: | Nonholonomic mechanics Lagrange-d’Alembert equations Lie algebroids Symmetry Reduction Differential Geometry Mathematical Physics |
Fecha de publicación: | 28-abr-2008 | Editor: | University of Missouri | Citación: | arXiv:math-ph/0512003v3 Discrete and Continuous Dynamical Systems [in press] |
Serie: | DCDS-A-08 | Resumen: | 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. | Descripción: | To appear in Discrete and Continuous Dynamical Systems A.-- 56 pages.-- 2000 MSC Classes: 70F25, 70H03, 70H33, 37J60, 53D17. | URI: | http://hdl.handle.net/10261/4170 | ISSN: | 1078-0947 |
Aparece en las colecciones: | (ICMAT) Artículos |
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Nonholonomic_Lagrangian.pdf | 782,09 kB | Adobe PDF | Visualizar/Abrir |
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