A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups <ce:cross-ref id='cecref0060' refid='fn1'> <ce:sup loc='post'>?</ce:sup> </ce:cross-ref>

Micha? Jó?wikowski; Witold Respondek

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A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups ?

机译：Lie组上系统的变容动力学和非完整动力学的比较？

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We study relations between vakonomically and nonholonomically constrained dynamics for the same set of linear constraints for a Lagrangian system on a Lie group. We obtain necessary and sucient conditions under which a nonholomic trajectory is also a vakonomic one. Concrete example of a two-wheeled carriage with a shifted center of mass is discussed.

机译：我们研究了李群上拉格朗日系统的同一组线性约束的变容动力学和非完整约束动力学之间的关系。我们获得了必要且充分的条件，在该条件下，非完整轨迹也是变态的轨迹。讨论了重心偏移的两轮车的具体示例。

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《IFAC PapersOnLine》 |2015年第13期|共6页
作者
Micha? Jó?wikowski; Witold Respondek;
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中图分类自动化技术、计算机技术;
关键词
contrained dynamicsvakonomicnonholonomicvariational principles;

机译：约束动力学完整非完整变分原理;

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A comparison of vakonomic and nonholonomic dynamics for systems on Lie groups ?

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