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The main directions in the development of the nonholonomic dynamics are briefly considered in this paper. The first direction is connected with the general formalizm of the equations of dynamics that differs from the Lagrangian and…
In this paper we study Chaplygin's Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton-Poincare-d'Alembert equations in arbitrary degrees of freedom. As special cases we extract…
This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the…
In this paper we have obtained some dynamics equations, in the presence of nonlinear nonholonomic constraints and according to a lagrangian and some Chetaev-like conditions. Using some natural regular conditions, a simple form of these…
In the present article the geometry of semi-Riemannian manifolds with nonholonomic constraints is studied. These manifolds can be considered as analogues to the sub-Riemannian manifolds, where the positively definite metric is substituted…
In this study, it is generalized the concept of Lagrangian mechanics with constraints to complex case. To be beginning, it is considered a Kaehlerian manifold as a velocity-phase space. Then a non-holonomic constraint is given by 1-form on…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of…
The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of the Euler-Lagrange equations for some regular Lagrangian.…
One of the founders of the mechanics of nonoholonomic systems is Voronec who published in 1901 a significant generalization of the Caplygin's equations, by removing some restrictive assumptions. In the frame of nonholonomic systems, the…
In this paper, the dynamics of nonholonomic systems on Lie groups with a left-invariant kinetic energy and left-invariant constraints are considered. Equations of motion form a closed system of differential equations on the corresponding…
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with…
The geometric formulation of Hamilton--Jacobi theory for systems with nonholonomic constraints is developed, following the ideas of the authors in previous papers. The relation between the solutions of the Hamilton--Jacobi problem with the…
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie…
We consider nonholonomic geodesic flows of left-invariant metrics and left-invariant nonintegrable distributions on compact connected Lie groups. The equations of geodesic flows are reduced to the Euler-Poincare-Suslov equations on the…
In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contracting systems in a general Riemannian manifold. Then, we…