Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
Differential Geometry
2007-05-23 v1 Optimization and Control
Symplectic Geometry
Abstract
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation with Vershik-Gershkovich one in the case of linear constraints. We show how nonholonomic mechanics also admits a new geometrical description wich enables us to develop an algorithm of comparison between the solutions of both dynamics. Some examples illustrating the theory are treated.
Keywords
Cite
@article{arxiv.math/0006183,
title = {Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions},
author = {Jorge Cortes and Manuel de Leon and David Martin de Diego and Sonia Martinez},
journal= {arXiv preprint arXiv:math/0006183},
year = {2007}
}
Comments
34 pages