Solving non-holonomic Lagrangian dymanics in terms of almost product structures

Autores: David Martín de Diego , Manuel de León
Localización: Extracta mathematicae, ISSN-e 0213-8743, Vol. 11, Nº 2, 1996, págs. 325-347
Idioma: inglés
Títulos paralelos:
- Resolución de dinámicas de Lagrange no holonómicas en función de estructuras casi producto
Enlaces
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Resumen
- Given a Lagrangian system with non-holonomic constraints we construct an almost product structure on the tangent bundle of the configuration manifold such that the projection of the Euler-Lagrange vector field gives the dynamics of the system. In a degenerate case, we develop a constraint algorithm which determines a final constraint submanifold where a completely consistent dynamics of the initial system exists.