A SURVEY OF LAGRANGIAN MECHANICS AND CONTROL ON LIE ALGEBROIDS AND GROUPOIDS
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classical field theorydiscrete mechanicsHamiltonian mechanicsLagrangian mechanicsLie algebroidsLie groupoidsmechanical control systemsnonholonomic Lagrangian systems
Lie algebras of vector fields and related (super) algebras (17B66) Topological groupoids (including differentiable and Lie groupoids) (22A22) Variational principles in infinite-dimensional spaces (58E30) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Lagrange's equations (70H03) Control of mechanical systems (70Q05)
Abstract: 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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Cited in
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