Stability of nonholonomic Chaplygin systems (Q758247)

In the investigation of stability of equilibrium of nonholonomic systems, especially with the help of Lyapunov's second method, it is sometimes appropriate to interpret these systems as perturbed holonomic systems, reducing under certain natural conditions the result of action of nonholonomic connections to small perturbations in the neighborhood of the equilibrium position under investigation. According to this point of view, the approach, suggested by the author [ibid. 39, No.2, 215-220 (1987)], to the investigation of stability of natural systems can be developed for the case of Chaplygin nonholonomic systems.