Given a Lagrangian system with non-holonomic constraints we construct an almost product structure on the tangent bundle of the configuration manifold such that the projection of the Euler-Lagrange vector field gives the dynamics of the system. In a degenerate case, we develop a constraint algorithm which determines a final constraint submanifold where a completely consistent dynamics of the initial system exists.
@article{urn:eudml:doc:38457,
title = {Solving non-holonomic Lagrangian dynamics in terms of almost product structures.},
journal = {Extracta Mathematicae},
volume = {11},
year = {1996},
pages = {325-347},
zbl = {0892.58028},
mrnumber = {MR1437457},
language = {en},
url = {http://dml.mathdoc.fr/item/urn:eudml:doc:38457}
}
León, Manuel de; Martín de Diego, David. Solving non-holonomic Lagrangian dynamics in terms of almost product structures.. Extracta Mathematicae, Tome 11 (1996) pp. 325-347. http://gdmltest.u-ga.fr/item/urn:eudml:doc:38457/