A Universal Hamilton-Jacobi Theory
  In this paper we develop a Hamilton-Jacobi theory in the setting of almost Poisson manifolds. The theory extends the classical Hamilton-Jacobi theory and can be also applied to very general situations including nonholonomic mechanical systems and time dependent systems with external forces. 
Manuel de Le\'on, David Mart\'in de Diego, Miguel Vaquero
math-ph math.DG math.MP