Tuesday, November 20, 2012

1211.4561 (Melvin Leok et al.)

Dirac Structures and Hamilton-Jacobi Theory for Lagrangian Mechanics on
Lie Algebroids
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Melvin Leok, Diana Sosa
This paper develops the notion of implicit Lagrangian systems on Lie algebroids and a Hamilton--Jacobi theory for this type of system. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of an implicit Lagrangian system on a Lie algebroid $E$ using Dirac structures on the Lie algebroid prolongation $\T^EE^*$. This setting includes degenerate Lagrangian systems with nonholonomic constraints on Lie algebroids.
View original: http://arxiv.org/abs/1211.4561

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