Variational constrained mechanics on Lie affgebroids (Q964159)

The authors discuss the variational constrained mechanics (vakonomic mechanics) on Lie affgebroid \({\mathcal A}\). They derive the dynamical equations and obtain the aff-Poisson bracket associated with the vakonomic system on the Lie affgebroid \({\mathcal A}\). The variational character of the theory is analyzed. The work consists of the following basic parts: Hamiltonian formalism on Lie affgebroids; vakonomic mechanics on Lie affgebroids; vakonomic equations and vakonomic bracket; mechanical systems subject to affine constraints on Lie affgebroids; Skinner-Rusk formalism on Lie affgebroids; the 1-jet bundle of local sections of fibration; optimal control systems as vakonomic systems on Lie affgebroids. Finally, several examples are proposed.