On the lagrangian formalism of nonholonomic mechanical systems

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The paper Illustrates the Lagrangian formalism of mechanical systems with nonholonomic constraints using the ideas of geometric mechanics. We first review a Lagrangian system for a conservative mechanical system in the context of variational principle of Hamilton, and we investigate the case that a given Lagrangian is hyperregular, which can be illustrated in the context of the symplectic structure on the tangent bundle of a configuration space by using the Legendre transformation. The Lagrangian system is denoted by the second order vector field and the Lagrangian one- and two-forms associated with a given hyperregular Lagrangian. Then, we demonstrate that a mechanical system with nonholonomic constraints can be formulated on the tangent bundle of a configuration manifold by using Lagrange multipliers. To do this, we investigate the Lagrange-d'Alembert principle from geometric points of view and we also show the intrinsic expression of the Lagrange-d'Alembert equations of motion for nonholonomic mechanical systems with nonconservative force fields.

本文言語English
ホスト出版物のタイトルProc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005
ホスト出版物のサブタイトル5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
出版社American Society of Mechanical Engineers
ページ627-633
ページ数7
ISBN(印刷版)0791847438, 9780791847435
DOI
出版ステータスPublished - 2005
イベントDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
継続期間: 2005 9 242005 9 28

出版物シリーズ

名前Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
6 A

Conference

ConferenceDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period05/9/2405/9/28

ASJC Scopus subject areas

  • Engineering(all)

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