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

David Martín de Diego , Manuel de León

• 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.