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A comparison of vakonomic and nonholonomic dynamics with applications to non-invariant Chaplygin systems

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dc.abstract.enWe study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of generalized variational principles, not equations of motion as has been done so far. The method seems to be quite powerful and effective. In particular, it allows to derive, interpret and generalize many known results on non-Abelian Chaplygin systems. We apply it also to a class of systems on Lie groups with a left-invariant constraints distribution. Concrete examples of the unicycle in a potential ?field, the two-wheeled carriage and the generalized Heisenberg system are discussed.
dc.affiliationUniwersytet Warszawski
dc.contributor.authorRespondek, Witold
dc.contributor.authorJóźwikowski, Michał
dc.date.accessioned2024-01-24T17:18:13Z
dc.date.available2024-01-24T17:18:13Z
dc.date.issued2019
dc.description.financeNie dotyczy
dc.identifier.doi10.3934/JGM.2019005
dc.identifier.issn1941-4889
dc.identifier.urihttps://repozytorium.uw.edu.pl//handle/item/101477
dc.languageeng
dc.pbn.affiliationmathemathics
dc.relation.ispartofJournal of Geometric Mechanics
dc.rightsClosedAccess
dc.sciencecloudnosend
dc.subject.ennonholonomic dynamics vakonomic dynamics constraints variational principle comparison problem
dc.titleA comparison of vakonomic and nonholonomic dynamics with applications to non-invariant Chaplygin systems
dc.typeJournalArticle
dspace.entity.typePublication