A Lagrangian formalism based on the velocity-determined virtual displacements for systems with nonholonomic constraints

作者：Li Shu Min; Berakdar Jamal^*

来源：International Journal of Theoretical Physics, 2008, 47(3): 732-740.

DOI：10.1007/s10773-007-9497-9

• constraint
• nonholonomic system
• Vakonomic model
• Chetaev model

We develop a Lagrangian formulation for classical systems with a general nonholonomic constraints by utilizing the so-called velocity-determined virtual-displacement conditions, i.e. by assuming the virtual displacements to be along the direction of the velocities in a special reference frame. It is shown that our general scheme encompasses as special cases the Chetaev and Voronets approaches when the constraints are homogeneous or linear in relative velocities.

• 出版日期2008-3
• 单位中国科学技术大学