A SURVEY OF LAGRANGIAN MECHANICS AND CONTROL ON LIE ALGEBROIDS AND GROUPOIDS
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classical field theoryLagrangian mechanicsLie algebroidsLie groupoidsdiscrete mechanicsHamiltonian mechanicsnonholonomic Lagrangian systemsmechanical control systems
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) 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)
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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Cites work
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Cited in
(40)- On the geometry of the Hamilton-Jacobi equation and generating functions
- Lie algebroids and mechanics
- Optimal control, contact dynamics and Herglotz variational problem
- Distinguished connections on Finsler algebroids
- Variational calculus on Lie algebroids
- Riemannian geometry of Lie algebroids
- Quasi-coordinates from the point of view of Lie algebroid structures
- Weyl's theory in the generalized Lie algebroids framework
- Lagrangian mechanics on Lie algebroids
- Singular Lagrangian systems and variational constrained mechanics on Lie algebroids
- An extension of the Dirac and Gotay-Nester theories of constraints for Dirac dynamical systems
- Higher-order analogs of Lie algebroids via vector bundle comorphisms
- Reduction of Lagrangian mechanics on Lie algebroids
- Lagrangian Lie subalgebroids generating dynamics for second-order mechanical systems on Lie algebroids
- Discrete connections on principal bundles: the discrete Atiyah sequence
- Almost Kähler Ricci flows and Einstein and Lagrange-Finsler structures on Lie algebroids
- Nonholonomic constraints: a new viewpoint
- Stabilization of an autonomous rolling sphere navigating in a labyrinth arena: A geometric mechanics perspective
- Hamiltonian mechanics and Lie algebroid connections
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- Mechanical control systems on Lie algebroids
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- Hamiltonian vector fields on almost symplectic manifolds
- Lagrangian mechanics and reduction on fibered manifolds
- A Lie algebroid framework for non-holonomic systems
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