A discretization of the nonholonomic Chaplygin sphere problem.
A geometric analysis of dynamical systems with singular Lagrangians
We study dynamics of singular Lagrangian systems described by implicit differential equations from a geometric point of view using the exterior differential systems approach. We analyze a concrete Lagrangian previously studied by other authors by methods of Dirac’s constraint theory, and find its complete dynamics.
A new geometric setting for classical field theories
A new geometrical setting for classical field theories is introduced. This description is strongly inspired by the one due to Skinner and Rusk for singular lagrangian systems. For a singular field theory a constraint algorithm is developed that gives a final constraint submanifold where a well-defined dynamics exists. The main advantage of this algorithm is that the second order condition is automatically included.
A unified approach to constrained mechanical systems as implicit differential equations