Lagrangian Reduction of Generalized Nonholonomic Systems Articles uri icon

authors

  • CENDRA, HERNAN
  • FERRARO, SEBASTIAN
  • GRILLO, SERGIO

publication date

  • October 2008

start page

  • 1271

end page

  • 1290

issue

  • 10

volume

  • 58

International Standard Serial Number (ISSN)

  • 0393-0440

Electronic International Standard Serial Number (EISSN)

  • 1879-1662

abstract

  • In this paper we study the Lagrangian reduction of generalized nonholonomic systems (GNHS) with symmetry. We restrict ourselves to those GNHS, defined on a configuration space Q, with kinematic constraints given by a general submanifold CKTQ, and variational constraints given by a distribution CVon Q. We develop a reduction procedure that is similar to that for nonholonomic systems satisfying d'Alembert's principle, i.e. with CK a distribution and CV=CK. Special care is taken in identifying the geometrical structures and mappings involved. We illustrate the general theory with an example.