Geometric Description of Vakonomic and Nonholonomic Dynamics. Comparison of Solutions
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Publication:4441908
DOI10.1137/S036301290036817XzbMATH Open1210.70013arXivmath/0006183OpenAlexW2074258857MaRDI QIDQ4441908FDOQ4441908
David Martín de Diego, Manuel de León, Sonia Martínez, J. Cortés
Publication date: 8 January 2004
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/math/0006183
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