The geometric theory of constraints applied to the dynamics of vakonomic mechanical systems. The vakonomic bracket.
Sonia Martínez, Jorge Cortés and Manuel de León
Journal of Mathematical Physics 41 (2000), 2090-2120
Abstract:
A vakonomic mechanical system can be alternatively described by an extended lagrangian using the Lagrange multipliers as new variables. Since this extended lagrangian is singular, the constraint algorithm can be applied and a Dirac bracket giving the evolution of the observables can be constructed.
File: main.pdf
Bib-tex entry:
@article{SM-JC-MdL:00,
author = {S. Mart{/'/i}nez and J. Cort\'es and M. de Le\'on},
title = {The geometric theory of constraints applied to the dynamics
of vakonomic mechanical systems. The vakonomic bracket},
journal= {Journal of Mathematical Physics},
volume = 41,
year = 2000,
number = 4,
pages = {2090--2120}
}