44 citations · 163 across the 19 of their papers we have counts for
4 papers · 1 filter
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…
Towards a Hamilton-Jacobi Theory for Nonholonomic Mechanical Systems
D. Iglesias, M. de Leon, D. Martin de Diego
In this paper we obtain a Hamilton-Jacobi theory for nonholonomic mechanical systems. The results are applied to a large class of nonholonomic mechanical systems, the so-called Čap…
Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
D. Iglesias, J. C. Marrero, D. Martin de Diego +1
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to de…
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…