A generalization of Chetaev’s principle for a class of higher order nonholonomic constraints
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Publication:4833455
DOI10.1063/1.1763245zbMATH Open1071.70009arXivmath-ph/0404053OpenAlexW3103085307MaRDI QIDQ4833455FDOQ4833455
Authors: Hernan Cendra, Manuel de León, David Martín de Diego, A. Ibort 
Publication date: 15 December 2004
Published in: Journal of Mathematical Physics (Search for Journal in Brave)
Abstract: The constraint distribution in non-holonomic mechanics has a double role. On one hand, it is a kinematic constraint, that is, it is a restriction on the motion itself. On the other hand, it is also a restriction on the allowed variations when using D'Alembert's Principle to derive the equations of motion. We will show that many systems of physical interest where D'Alembert's Principle does not apply can be conveniently modeled within the general idea of the Principle of Virtual Work by the introduction of both kinematic constraints and variational constraints as being independent entities. This includes, for example, elastic rolling bodies and pneumatic tires. Also, D'Alembert's Principle and Chetaev's Principle fall into this scheme. We emphasize the geometric point of view, avoiding the use of local coordinates, which is the appropriate setting for dealing with questions of global nature, like reduction.
Full work available at URL: https://arxiv.org/abs/math-ph/0404053
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Cited In (25)
- Dynamics of higher-order nonholonomic constraint systems of non-Chetaev type
- Title not available (Why is that?)
- Nonlinear constraints in nonholonomic mechanics
- Dirac structures in nonequilibrium thermodynamics
- Generalized nonholonomic mechanics, servomechanisms and related brackets
- An extension of the Dirac and Gotay-Nester theories of constraints for Dirac dynamical systems
- Higher-order discrete variational problems with constraints
- Nonholonomic versus vakonomic dynamics on a Riemann–Cartan manifold
- Dirac structures in nonequilibrium thermodynamics for simple open systems
- A nonholonomic approach to isoparallel problems and some applications
- On generalized nonholonomic systems
- A historical review on nonholomic mechanics
- A generalization of the Chetaev condition for nonlinear nonholonomic constraints: the velocity-determined virtual displacement approach
- Variational reduction of Hamiltonian systems with general constraints
- A free energy Lagrangian variational formulation of the Navier-Stokes-Fourier system
- Dirac Structures and Variational Formulation of Thermodynamics for Open Systems
- A Lagrangian variational formulation for nonequilibrium thermodynamics. I: Discrete systems.
- The Geometry of Some Thermodynamic Systems
- CLOSED-LOOP AND CONSTRAINED MECHANICAL SYSTEMS
- Higher order constrained Hamiltonian systems
- Lagrangian systems with higher order constraints
- Elementary thermo-mechanical systems and higher order constraints
- D'alembert-Lagrange analytical dynamics for nonholonomic systems
- Nonlinear control of a robot manipulator with a nonholonomic jerk constraint
- Lagrangian reduction of generalized nonholonomic systems
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