scientific article; zbMATH DE number 1341636
almost product structureconstrained mechanical systemholonomic constraintjet bundleLagrangian systemtime-dependent system
Holonomic systems related to the dynamics of a system of particles (70F20) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Lagrange's equations (70H03) Constrained dynamics, Dirac's theory of constraints (70H45)
The authors develop a geometric framework based on jet bundles for time-dependent Lagrangian systems subject to nonlinear holonomic constraints. An almost product structure is introduced on the first order jet bundle, and the existence of a constrained Poincaré-Cartan form is shown. These structures define in a unique way the dynamics of the system. Finally, the results are generalized to singular Lagrangians. For the entire collection see [Zbl 0903.00045].
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