Connections on the fibre bundle and application to the Lagrangian mechanics (Q2844265)

In the paper under review, the authors use the notion of Grifone's connection over a tangent bundle in order to construct a connection over a sub-bundle. The covariant derivative, the torsion and the curvature are defined by means of a Lie pre-bracket associated to this connection. The solutions of non-holonomic Lagrangian mechanics are characterized. It is shown that the geodesics of the connection constructed on the sub-bundle are the solutions of the non-holonomic Euler-Lagrange system. It is also proven that the Hamiltonian associated to the Lagrangian function is constant along the horizontal curves.