A Lie algebroid framework for non-holonomic systems
arXiv:math/0410460 · doi:10.1088/0305-4470/38/5/011
Abstract
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie algebroid.
18 pages