Singular Lagrangian systems and variational constrained mechanics on Lie algebroids

The purpose of this article is to describe Lagrangian mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard tangent bundles …). In particular, we are interested in two cases: singular Lagrangian systems and vakonomic mechanics (variational constrained mechanics). Several examples illustrate the interest of these developments.

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