A Survey of Lagrangian Mechanics and Control on Lie algebroids and groupoids

Details A Survey of Lagrangian Mechanics and Control on Lie algebroids and groupoids A Survey of Lagrangian Mechanics and Control on Lie algebroids and groupoids

2005-11-03

arxiv.org/abs/math-ph/0511009v1

Physics

Mathematical Physics

41 pages, Survey

Scientific paper

In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical control systems, Discrete Mechanics and extensions to Classical Field Theory within a single framework. Various examples along the discussion illustrate the soundness of the approach.

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