Hamilton-Jacobi methods for Vakonomic Mechanics

We extend the theory of Aubry-Mather measures to Hamiltonian systems that arise in vakonomic mechanics and sub-Riemannian geometry. We use these measures to study the asymptotic behavior of (vakonomic) action-minimizing curves, and prove a bootstrapping result to study the partial regularity of solutions of convex, but not strictly convex, Hamilton-Jacobi equations.