2007/06/19 by David Iglesias, Juan Carlos Marrero, Iglesias, D. +5
Engineering · Physics and Astronomy · #Control and Dynamics of Mobile Robots #Advanced Differential Geometry Research #Nonlinear Waves and Solitons
paper · pdf · doi:10.48550/arxiv.0706.2789
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.