Dirac structures and Hamilton-Jacobi theory for Lagrangian mechanics on Lie algebroids (Q1951053)

In this article, an appropriate notion of the Hamilton-Jacobi theory for implicit Lagrangian systems on Lie algebroids is formulated. One of the main ingredients of the construction is a generalized Dirac structure on the Lie algebroid prolongation \(\mathcal T^E E^*\) induced by a vector subbundle \(\mathcal U\) of the Lie algebroid \(E\). The implicit Lagrangian systems are defined in terms of the induced Dirac structures. In particular, the formulation of implicit Lagrangian systems, degenerate Lagrangian systems with nonholonomic constraints on Lie algebroids, and the Euler-Poincaré-Suslov equations are recovered.