New links and reductions between the Brockett nonholonomic integrator and related systems.
Non-holonomic mechanical systems in jet bundles.
In this paper we present a geometrical formulation for Lagrangian systems subjected to non-holonomic constraints in terms of jet bundles. Cosymplectic geometry and almost product structures are used to obtained the constrained dynamics without using Lagrange multipliers method.
Nonholonomic tangent spaces: intrinsic construction and rigid dimensions.