In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical control systems, Discrete Mechanics and extensions to Classical Field Theory within a single framework. Various examples along the discussion illustrate the soundness of the approach.
The Laplace transform of fractional integrals and fractional derivatives is used to develop a general formula for determining the potentials of arbitrary forces: conservative and nonconservative in order to introduce dissipative effects (such as friction) into Lagrangian and Hamiltonian mechanics. The results are found to be in exact agreement with Riewe's results of special cases. Illustrative examples are given.
A SURVEY OF LAGRANGIAN MECHANICS AND CONTROL ON LIE ALGEBROIDS AND GROUPOIDS
