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The geometric structure of nonholonomic mechanics

Koon, Wang Sang and Marsden, Jerrold E. (1997) The geometric structure of nonholonomic mechanics. In: Proceedings of the 36th IEEE Conference on Decision and Control, 1997. Vol.5. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 4856-4861. ISBN 0-7803-3970-8 http://resolver.caltech.edu/CaltechAUTHORS:KOOieeecdc97

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Abstract

Many important problems in multibody dynamics, the dynamics of wheeled vehicles and motion generation, involve nonholonomic mechanics. Many of these systems have symmetry, such as the group of Euclidean motions in the plane or in space and this symmetry plays an important role in the theory. Despite considerable advances on both Hamiltonian and Lagrangian sides of the theory, there remains much to do. We report on progress on two of these fronts. The first is a Poisson description of the equations that is equivalent to those given by Lagrangian reduction, and second, a deeper understanding of holonomy for such systems. These results promise to lead to further progress on the stability issues and on locomotion generation


Item Type:Book Section
Additional Information:“© 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” Research partially supported by the DOE contract DEFG0395-ER25251.
Record Number:CaltechAUTHORS:KOOieeecdc97
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:KOOieeecdc97
Alternative URL:http://dx.doi.org/10.1109/CDC.1997.649795
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ID Code:535
Collection:CaltechAUTHORS
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Deposited On:14 Jul 2005
Last Modified:26 Dec 2012 08:40

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