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Variational Principles for Constrained Systems: Theory and Experiment

Lewis, Andrew D. and Murray, Richard M. (1994) Variational Principles for Constrained Systems: Theory and Experiment. California Institute of Technology . (Unpublished)

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In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are compared. Results are also presented from an experiment for a model system: a ball rolling without sliding on a rotating table. Both sets of equations of motion for the model system are compared with the experimental results. The effects of various forms of friction are considered in the nonholonomic equations. With appropriate friction terms, the nonholonomic equations of motion for the model system give reasonable agreement with the experimental observations.

Item Type:Report or Paper (Technical Report)
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1994.CIT-CDS-94-016
Persistent URL:
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28020
Deposited By: Imported from CaltechCDSTR
Deposited On:18 Oct 2002
Last Modified:03 Oct 2019 03:28

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