102 citations · 219 across the 13 of their papers we have counts for
4 papers · 1 filter
Momentum and energy preserving integrators for nonholonomic dynamics
S. Ferraro, D. Iglesias, D. Martín de Diego
In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defin…
Singular lagrangian systems and variational constrained mechanics on Lie algebroids
D. Iglesias, J. C. Marrero, D. Martin de Diego +1
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie gr…
A general framework for nonholonomic mechanics: Nonholonomic Systems on Lie affgebroids
D. Iglesias, J. C. Marrero, D. Martin de Diego +1
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomi…
Reduction of Symplectic Lie Algebroids by a Lie Subalgebroid and a Symmetry Lie Group
D. Iglesias, J. C. Marrero, D. Martin de Diego +2
We describe the reduction procedure for a symplectic Lie algebroid by a Lie subalgebroid and a symmetry Lie group. Moreover, given an invariant Hamiltonian function we obtain the c…