Dirac algebroids in Lagrangian and Hamiltonian mechanics

DOI10.1016/J.GEOMPHYS.2011.06.018zbMATH Open1223.37064arXiv1101.2497OpenAlexW2167515920MaRDI QIDQ720678FDOQ720678

Katarzyna Grabowska, J. Grabowski

Publication date: 11 October 2011

Published in: Journal of Geometry and Physics (Search for Journal in Brave)

Abstract: We present a unified approach to constrained implicit Lagrangian and Hamiltonian systems based on the introduced concept of Dirac algebroid. The latter is a certain almost Dirac structure associated with the Courant algebroid on the dual $E^{a}st$ to a vector bundle $E$. If this almost Dirac structure is integrable (Dirac), we speak about a Dirac-Lie algebroid. The bundle $E$ plays the role of the bundle of kinematic configurations (quasi-velocities), while the bundle $E^{a}st$ - the role of the phase space. This setting is totally intrinsic and does not distinguish between regular and singular Lagrangians. The constraints are part of the framework, so the general approach does not change when nonholonomic constraints are imposed, and produces the (implicit) Euler-Lagrange and Hamilton equations in an elegant geometric way. The scheme includes all important cases of Lagrangian and Hamiltonian systems, no matter if they are with or without constraints, autonomous or non-autonomous etc., as well as their reductions; in particular, constrained systems on Lie algebroids. we prove also some basic facts about the geometry of Dirac and Dirac-Lie algebroids.

Full work available at URL: https://arxiv.org/abs/1101.2497

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zbMATH Keywords

Euler-Lagrange equationLie algebroidvariational calculusnonholonomic constraintDirac structuregeometrical mechanics

Mathematics Subject Classification ID

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) Lie algebras of vector fields and related (super) algebras (17B66) Hamilton's principle (70H25) Constrained dynamics, Dirac's theory of constraints (70H45)

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Cited In (26)

• Title not available (Why is that?)
• Dirac structures in vakonomic mechanics
• Geometry of quantum dynamics in infinite-dimensional Hilbert space
• Tensor products of Dirac structures and interconnection in Lagrangian mechanics
• The category of Z2n-supermanifolds
• Dirac structures in Lagrangian mechanics. I: Implicit Lagrangian systems
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• Geometry of Lagrangian and Hamiltonian formalisms in the dynamics of strings
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• Dirac-Hestenes Lagrangian
• Modular classes revisited
• Morse families and Dirac systems
• Momentum section on Courant algebroid and constrained Hamiltonian mechanics
• On Dirac structures admitting a variational approach

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