CANONICAL FORMULATION OF NONHOLONOMIC CONSTRAINED SYSTEMS

• 来源期刊: 中国物理(英文版)
• 学科: 物理学
• 关键词: nonholonomic constraints canonical formulation Ehresmann connection symplectic submanifold
• 年，卷（期）: 2001,（1）
• 页码范围: 1-6
• 页数: 6页
• 分类号: O4
• 语种: 英文

摘要

Based on the Ehresmann connection theory and symplectic geometry, the canonical formulation of nonholonomic constrained mechanical systems is described. Following the Lagrangian formulation of the constrained system, the Hamiltonian formulation is given by Legendre transformation. The Poisson bracket defined by an anti-symmetric tensor does not satisfy the Jacobi identity for the nonintegrability of nonholonomic constraints. The constraint manifold can admit symplectic submanifold for some cases, in which the Lie algebraic structure exists.