Hamiltonian principle for nonholonomic systems
Abstract
There are three forms of the Hamiltonian variational principle for nonholonomic systems: (1) the Gel'der form (1959), (2) the Voronetz form (1901), and (3) the Suslov form (1901). This paper analyzes the conditions under which these forms of the principle can be derived for the general case of nonlinear constraints and the particular case of linear constraints. It is shown that these three forms are equivalent and transform into one another. For the general case, it is shown that the real motions of a nonholonomic system can be found among the solutions of the Euler equation of the Lagrange variational problem.
 Publication:

Prikladnaia Matematika i Mekhanika
 Pub Date:
 June 1978
 Bibcode:
 1978PriMM..42..387R
 Keywords:

 Constraints;
 Equations Of Motion;
 HamiltonJacobi Equation;
 Nonholonomic Equations;
 Variational Principles;
 Euler Equations Of Motion;
 Kinetic Energy;
 Lagrange Coordinates;
 Lagrange Multipliers;
 Partial Differential Equations;
 Physics (General)