Mechanics of non-holonomic systems: a new class of control systems

A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system of equations of motion in the generalized coordinates is regarded as a one vector relation, represented in a space tangential to a manifold of all possible positions of system at given instant. The tangential space is partitionedby the equations of constraints into two orthogonal subspaces. In one of themfor the constraints up to the second order, the motion low is given by the equations of constraints and in the other one for ideal constraints, it is described by the vector equation without reactions of connections. In the whole space the motion low involves Lagrangian multipliers. It is shown that for the holonomic and nonholonomic constraints up to the second order, these multiplierscan be found as the function of time, positions of system, and its velocities. Gives deeper insight into theory and applications of Analytical Mechanics

• ISBN: 978-3-540-85846-1
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 250
• Fecha Publicación: 01/10/2008
• Nº Volúmenes: 1
• Idioma: Inglés