Nonholonomic Constraints: a New Viewpoint

Abstract

The purpose of this paper is to show that, at least for Lagrangians of mechanical type, nonholonomic Euler-Lagrange equations for a nonholonomic linear constraint D may be viewed as non-constrained Euler-Lagrange equations but on a new (generally not Lie) algebroid structure on D. The proposed novel formalism allows us to treat in a unified way a variety of… (More)

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